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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 <math.h> |
60 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
61 | #include "led.h" |
61 | #include "led.h" |
62 | #include "gps.h" |
62 | #include "gps.h" |
63 | #include "uart1.h" |
63 | #include "uart1.h" |
64 | #include "spi_slave.h" |
64 | #include "spi_slave.h" |
65 | #include "compass.h" |
65 | #include "compass.h" |
66 | #include "timer1.h" |
66 | #include "timer1.h" |
67 | #include "timer2.h" |
67 | #include "timer2.h" |
68 | #include "config.h" |
68 | #include "config.h" |
69 | #include "main.h" |
69 | #include "main.h" |
70 | #include "compass.h" |
70 | #include "compass.h" |
71 | #include "params.h" |
71 | #include "params.h" |
72 | 72 | ||
73 | #define SPI_RXSYNCBYTE1 0xAA |
73 | #define SPI_RXSYNCBYTE1 0xAA |
74 | #define SPI_RXSYNCBYTE2 0x83 |
74 | #define SPI_RXSYNCBYTE2 0x83 |
75 | #define SPI_TXSYNCBYTE1 0x81 |
75 | #define SPI_TXSYNCBYTE1 0x81 |
76 | #define SPI_TXSYNCBYTE2 0x55 |
76 | #define SPI_TXSYNCBYTE2 0x55 |
77 | 77 | ||
78 | //communication packets |
78 | //communication packets |
79 | FromFlightCtrl_t FromFlightCtrl; |
79 | FromFlightCtrl_t FromFlightCtrl; |
80 | ToFlightCtrl_t ToFlightCtrl; |
80 | ToFlightCtrl_t ToFlightCtrl; |
81 | #define SPI0_TIMEOUT 500 // 500ms |
81 | #define SPI0_TIMEOUT 500 // 500ms |
82 | volatile u32 SPI0_Timeout = 0; |
82 | volatile u32 SPI0_Timeout = 0; |
83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
84 | 84 | ||
85 | // tx packet buffer |
85 | // tx packet buffer |
86 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
86 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
87 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
87 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
88 | volatile u8 SPI_TxBufferIndex = 0; |
88 | volatile u8 SPI_TxBufferIndex = 0; |
89 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
89 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
90 | 90 | ||
91 | // rx packet buffer |
91 | // rx packet buffer |
92 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
92 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
93 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
93 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
94 | volatile u8 SPI_RxBufferIndex = 0; |
94 | volatile u8 SPI_RxBufferIndex = 0; |
95 | volatile u8 SPI_RxBuffer_Request = 0; |
95 | volatile u8 SPI_RxBuffer_Request = 0; |
96 | #define SPI_COMMAND_INDEX 0 |
96 | #define SPI_COMMAND_INDEX 0 |
97 | 97 | ||
98 | s32 Kalman_K = 32; |
98 | s32 Kalman_K = 32; |
99 | s32 Kalman_MaxDrift = 5 * 16; |
99 | s32 Kalman_MaxDrift = 5 * 16; |
100 | s32 Kalman_MaxFusion = 64; |
100 | s32 Kalman_MaxFusion = 64; |
101 | s32 Kalman_Kompass = 32; |
101 | s32 Kalman_Kompass = 32; |
102 | s32 ToFcGpsZ = 0; |
102 | s32 ToFcGpsZ = 0; |
103 | 103 | ||
104 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN}; |
104 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN }; |
105 | u8 SPI_CommandCounter = 0; |
105 | u8 SPI_CommandCounter = 0; |
106 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
106 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
107 | s32 HeadFreeStartAngle = 0; |
107 | s32 HeadFreeStartAngle = 0; |
108 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
108 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
109 | u32 ToFC_AltitudeRate = 0; |
109 | u32 ToFC_AltitudeRate = 0; |
110 | s32 ToFC_AltitudeSetpoint = 0; |
110 | s32 ToFC_AltitudeSetpoint = 0; |
111 | u8 FromFC_VarioCharacter = ' '; |
111 | u8 FromFC_VarioCharacter = ' '; |
112 | u8 GPS_Aid_StickMultiplikator = 0; |
112 | u8 GPS_Aid_StickMultiplikator = 0; |
113 | u8 NC_GPS_ModeCharacter = ' '; |
113 | u8 NC_GPS_ModeCharacter = ' '; |
114 | u8 FCCalibActive = 0; |
114 | u8 FCCalibActive = 0; |
115 | u8 FC_is_Calibrated = 0; |
115 | u8 FC_is_Calibrated = 0; |
116 | u8 MotorCurrent[12]; |
116 | u8 MotorCurrent[12]; |
117 | u8 MotorTemperature[12]; |
117 | u8 MotorTemperature[12]; |
118 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
118 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
119 | u32 FC_I2C_ErrorConter; |
119 | u32 FC_I2C_ErrorConter; |
120 | SPI_Version_t FC_Version; |
120 | SPI_Version_t FC_Version; |
121 | 121 | ||
122 | //-------------------------------------------------------------- |
122 | //-------------------------------------------------------------- |
123 | void SSP0_IRQHandler(void) |
123 | void SSP0_IRQHandler(void) |
124 | { |
124 | { |
125 | static u8 rxchksum = 0; |
125 | static u8 rxchksum = 0; |
126 | u8 rxdata; |
126 | u8 rxdata; |
127 | 127 | ||
128 | #define SPI_SYNC1 0 |
128 | #define SPI_SYNC1 0 |
129 | #define SPI_SYNC2 1 |
129 | #define SPI_SYNC2 1 |
130 | #define SPI_DATA 2 |
130 | #define SPI_DATA 2 |
131 | static u8 SPI_State = SPI_SYNC1; |
131 | static u8 SPI_State = SPI_SYNC1; |
132 | 132 | ||
133 | IENABLE; |
133 | IENABLE; |
134 | 134 | ||
135 | // clear pending bits |
135 | // clear pending bits |
136 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
136 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
137 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
137 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
138 | 138 | ||
139 | // while RxFIFO not empty |
139 | // while RxFIFO not empty |
140 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
140 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
141 | { |
141 | { |
142 | rxdata = SSP0->DR; // catch the received byte |
142 | rxdata = SSP0->DR; // catch the received byte |
143 | // Fill TxFIFO while its not full or end of packet is reached |
143 | // Fill TxFIFO while its not full or end of packet is reached |
144 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
144 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
145 | { |
145 | { |
146 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
146 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
147 | { |
147 | { |
148 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
148 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
149 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
149 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
150 | SPI_TxBufferIndex++; // pointer to next byte |
150 | SPI_TxBufferIndex++; // pointer to next byte |
151 | } |
151 | } |
152 | else // end of packet is reached reset and copy data to tx buffer |
152 | else // end of packet is reached reset and copy data to tx buffer |
153 | { |
153 | { |
154 | SPI_TxBufferIndex = 0; // reset buffer index |
154 | SPI_TxBufferIndex = 0; // reset buffer index |
155 | ToFlightCtrl.Chksum = 0; // initialize checksum |
155 | ToFlightCtrl.Chksum = 0; // initialize checksum |
156 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
156 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
157 | BeepTime = 0; // reset local beeptime |
157 | BeepTime = 0; // reset local beeptime |
158 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
158 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
159 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
159 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
160 | } |
160 | } |
161 | } |
161 | } |
162 | switch (SPI_State) |
162 | switch (SPI_State) |
163 | { |
163 | { |
164 | case SPI_SYNC1: |
164 | case SPI_SYNC1: |
165 | SPI_RxBufferIndex = 0; // reset buffer index |
165 | SPI_RxBufferIndex = 0; // reset buffer index |
166 | rxchksum = rxdata; // init checksum |
166 | rxchksum = rxdata; // init checksum |
167 | if (rxdata == SPI_RXSYNCBYTE1) |
167 | if (rxdata == SPI_RXSYNCBYTE1) |
168 | { // 1st syncbyte ok |
168 | { // 1st syncbyte ok |
169 | SPI_State = SPI_SYNC2; // step to sync2 |
169 | SPI_State = SPI_SYNC2; // step to sync2 |
170 | } |
170 | } |
171 | break; |
171 | break; |
172 | case SPI_SYNC2: |
172 | case SPI_SYNC2: |
173 | if (rxdata == SPI_RXSYNCBYTE2) |
173 | if (rxdata == SPI_RXSYNCBYTE2) |
174 | { // 2nd Syncbyte ok |
174 | { // 2nd Syncbyte ok |
175 | rxchksum += rxdata; |
175 | rxchksum += rxdata; |
176 | SPI_State = SPI_DATA; |
176 | SPI_State = SPI_DATA; |
177 | } // 2nd Syncbyte does not match |
177 | } // 2nd Syncbyte does not match |
178 | else |
178 | else |
179 | { |
179 | { |
180 | SPI_State = SPI_SYNC1; //jump back to sync1 |
180 | SPI_State = SPI_SYNC1; //jump back to sync1 |
181 | } |
181 | } |
182 | break; |
182 | break; |
183 | case SPI_DATA: |
183 | case SPI_DATA: |
184 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
184 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
185 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
185 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
186 | { |
186 | { |
187 | if (rxdata == rxchksum) // verify checksum byte |
187 | if (rxdata == rxchksum) // verify checksum byte |
188 | { |
188 | { |
189 | // copy SPI_RxBuffer -> FromFlightCtrl |
189 | // copy SPI_RxBuffer -> FromFlightCtrl |
190 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
190 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
191 | { |
191 | { |
192 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
192 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
193 | SPI_RxBuffer_Request = 1; |
193 | SPI_RxBuffer_Request = 1; |
194 | } |
194 | } |
195 | // reset timeout counter on good packet |
195 | // reset timeout counter on good packet |
196 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
196 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
197 | DebugOut.Analog[13]++; |
197 | DebugOut.Analog[13]++; |
198 | } |
198 | } |
199 | else // bad checksum byte |
199 | else // bad checksum byte |
200 | { |
200 | { |
201 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
201 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
202 | } |
202 | } |
203 | SPI_State = SPI_SYNC1; // reset state |
203 | SPI_State = SPI_SYNC1; // reset state |
204 | } |
204 | } |
205 | else // end of packet not reached |
205 | else // end of packet not reached |
206 | { |
206 | { |
207 | rxchksum += rxdata; // update checksum |
207 | rxchksum += rxdata; // update checksum |
208 | } |
208 | } |
209 | break; |
209 | break; |
210 | default: |
210 | default: |
211 | SPI_State = SPI_SYNC1; |
211 | SPI_State = SPI_SYNC1; |
212 | break; |
212 | break; |
213 | } |
213 | } |
214 | } |
214 | } |
215 | 215 | ||
216 | IDISABLE; |
216 | IDISABLE; |
217 | } |
217 | } |
218 | 218 | ||
219 | //-------------------------------------------------------------- |
219 | //-------------------------------------------------------------- |
220 | void SPI0_Init(void) |
220 | void SPI0_Init(void) |
221 | { |
221 | { |
222 | GPIO_InitTypeDef GPIO_InitStructure; |
222 | GPIO_InitTypeDef GPIO_InitStructure; |
223 | SSP_InitTypeDef SSP_InitStructure; |
223 | SSP_InitTypeDef SSP_InitStructure; |
224 | 224 | ||
225 | UART1_PutString("\r\n SPI init..."); |
225 | UART1_PutString("\r\n SPI init..."); |
226 | 226 | ||
227 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
227 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
228 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
228 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
229 | 229 | ||
230 | GPIO_DeInit(GPIO2); |
230 | GPIO_DeInit(GPIO2); |
231 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
231 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
232 | GPIO_StructInit(&GPIO_InitStructure); |
232 | GPIO_StructInit(&GPIO_InitStructure); |
233 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
233 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
234 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
234 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
235 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
235 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
236 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
236 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
237 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
237 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
238 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
238 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
239 | 239 | ||
240 | // SSP0_MISO pin GPIO2.6 |
240 | // SSP0_MISO pin GPIO2.6 |
241 | GPIO_StructInit(&GPIO_InitStructure); |
241 | GPIO_StructInit(&GPIO_InitStructure); |
242 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
242 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
243 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
243 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
244 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
244 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
245 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
245 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
246 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
246 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
247 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
247 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
248 | 248 | ||
249 | SSP_DeInit(SSP0); |
249 | SSP_DeInit(SSP0); |
250 | SSP_StructInit(&SSP_InitStructure); |
250 | SSP_StructInit(&SSP_InitStructure); |
251 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
251 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
252 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
252 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
253 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
253 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
254 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
254 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
255 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
255 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
256 | SSP_InitStructure.SSP_ClockRate = 0; |
256 | SSP_InitStructure.SSP_ClockRate = 0; |
257 | 257 | ||
258 | SSP_Init(SSP0, &SSP_InitStructure); |
258 | SSP_Init(SSP0, &SSP_InitStructure); |
259 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
259 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
260 | 260 | ||
261 | SSP_Cmd(SSP0, ENABLE); |
261 | SSP_Cmd(SSP0, ENABLE); |
262 | // initialize the syncbytes in the tx buffer |
262 | // initialize the syncbytes in the tx buffer |
263 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
263 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
264 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
264 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
265 | // set the pointer to the checksum byte in the tx buffer |
265 | // set the pointer to the checksum byte in the tx buffer |
266 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
266 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
267 | 267 | ||
268 | ToFlightCtrl.GPSStick.Nick = 0; |
268 | ToFlightCtrl.GPSStick.Nick = 0; |
269 | ToFlightCtrl.GPSStick.Roll = 0; |
269 | ToFlightCtrl.GPSStick.Roll = 0; |
270 | ToFlightCtrl.GPSStick.Yaw = 0; |
270 | ToFlightCtrl.GPSStick.Yaw = 0; |
271 | 271 | ||
272 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
272 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
273 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
273 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
274 | 274 | ||
275 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
275 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
276 | 276 | ||
277 | UART1_PutString("ok"); |
277 | UART1_PutString("ok"); |
278 | } |
278 | } |
279 | 279 | ||
280 | 280 | ||
281 | //------------------------------------------------------ |
281 | //------------------------------------------------------ |
282 | void SPI0_UpdateBuffer(void) |
282 | void SPI0_UpdateBuffer(void) |
283 | { |
283 | { |
284 | static u32 timeout = 0; |
284 | static u32 timeout = 0; |
285 | static u8 counter = 50,hott_index = 0; |
285 | static u8 counter = 50,hott_index = 0; |
286 | static u8 CompassCalState = 0; |
286 | static u8 CompassCalState = 0; |
287 | s16 tmp; |
287 | s16 tmp; |
288 | s32 i1,i2; |
288 | s32 i1,i2; |
289 | 289 | ||
290 | if (SPI_RxBuffer_Request) |
290 | if (SPI_RxBuffer_Request) |
291 | { |
291 | { |
292 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
292 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
293 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
293 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
294 | ToFlightCtrl.CompassHeading = Compass_Heading; |
294 | ToFlightCtrl.CompassHeading = Compass_Heading; |
- | 295 | //ToFlightCtrl.CompassHeading += 360 + ((s32) FC.Poti[7] - 100); |
|
- | 296 | //ToFlightCtrl.CompassHeading %= 360; |
|
295 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
297 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
296 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
298 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
297 | // ToFlightCtrl.MagVecX = MagVector.X; |
299 | // ToFlightCtrl.MagVecX = MagVector.X; |
298 | // ToFlightCtrl.MagVecY = MagVector.Y; |
300 | // ToFlightCtrl.MagVecY = MagVector.Y; |
299 | ToFlightCtrl.MagVecZ = MagVector.Z; |
301 | ToFlightCtrl.MagVecZ = MagVector.Z; |
300 | ToFlightCtrl.NCStatus = 0; |
302 | ToFlightCtrl.NCStatus = 0; |
301 | // cycle spi commands |
303 | // cycle spi commands |
302 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
304 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
303 | // restart command cycle at the end |
305 | // restart command cycle at the end |
304 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
306 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
305 | #define FLAG_GPS_AID 0x01 |
307 | #define FLAG_GPS_AID 0x01 |
306 | switch (ToFlightCtrl.Command) |
308 | switch (ToFlightCtrl.Command) |
307 | { |
309 | { |
308 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
310 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
309 | CalcHeadFree(); |
311 | CalcHeadFree(); |
310 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
312 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
311 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
313 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
312 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
314 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
313 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
315 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
314 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
316 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
315 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
317 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
316 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
318 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
317 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
319 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
318 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
320 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
319 | { |
321 | { |
320 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
322 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
321 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
323 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
322 | } |
324 | } |
323 | else |
325 | else |
324 | { |
326 | { |
325 | ToFlightCtrl.Param.sInt[4] = -1; |
327 | ToFlightCtrl.Param.sInt[4] = -1; |
326 | } |
328 | } |
327 | 329 | ||
328 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
330 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
329 | { |
331 | { |
330 | ToFlightCtrl.Param.sInt[5] = tmp; |
332 | ToFlightCtrl.Param.sInt[5] = tmp; |
331 | } |
333 | } |
332 | else |
334 | else |
333 | { |
335 | { |
334 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
336 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
335 | else ToFlightCtrl.Param.sInt[5] = 0; |
337 | else ToFlightCtrl.Param.sInt[5] = 0; |
336 | } |
338 | } |
337 | break; |
339 | break; |
338 | 340 | ||
339 | case SPI_NCCMD_VERSION: |
341 | case SPI_NCCMD_VERSION: |
340 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
342 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
341 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
343 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
342 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
344 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
343 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
345 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
344 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
346 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
345 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
347 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
346 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
348 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
347 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
349 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
348 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
350 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
349 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
351 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
- | 352 | ToFlightCtrl.Param.Byte[10] = 0; |
|
- | 353 | ToFlightCtrl.Param.Byte[11] = 0; |
|
- | 354 | break; |
|
- | 355 | case SPI_MISC: |
|
- | 356 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
|
- | 357 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
|
- | 358 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
|
- | 359 | ToFlightCtrl.Param.Byte[3] = 0; |
|
- | 360 | ToFlightCtrl.Param.Byte[4] = 0; |
|
- | 361 | ToFlightCtrl.Param.Byte[5] = 0; |
|
- | 362 | ToFlightCtrl.Param.Byte[6] = 0; |
|
- | 363 | ToFlightCtrl.Param.Byte[7] = 0; |
|
- | 364 | ToFlightCtrl.Param.Byte[8] = 0; |
|
- | 365 | ToFlightCtrl.Param.Byte[9] = 0; |
|
- | 366 | ToFlightCtrl.Param.Byte[10] = 0; |
|
- | 367 | ToFlightCtrl.Param.Byte[11] = 0; |
|
350 | break; |
368 | break; |
351 | 369 | ||
352 | case SPI_NCCMD_GPSINFO: |
370 | case SPI_NCCMD_GPSINFO: |
353 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
371 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
354 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
372 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
355 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
373 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
356 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
374 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
357 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
375 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
358 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
376 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
359 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
377 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
360 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
378 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
361 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
379 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
362 | { |
380 | { |
363 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
381 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
364 | } |
382 | } |
365 | else |
383 | else |
366 | { |
384 | { |
367 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
385 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
368 | } |
386 | } |
369 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
387 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
370 | { |
388 | { |
371 | ToFlightCtrl.Param.sInt[5] = tmp; |
389 | ToFlightCtrl.Param.sInt[5] = tmp; |
372 | } |
390 | } |
373 | else |
391 | else |
374 | { |
392 | { |
375 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
393 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
376 | } |
394 | } |
377 | break; |
395 | break; |
378 | /* |
396 | /* |
379 | typedef struct |
397 | typedef struct |
380 | { |
398 | { |
381 | unsigned char StartByte; //0 // 0x7C |
399 | unsigned char StartByte; //0 // 0x7C |
382 | unsigned char Packet_ID; //1 // 0x89 - Vario ID |
400 | unsigned char Packet_ID; //1 // 0x89 - Vario ID |
383 | unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
401 | unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
384 | unsigned char Heading; //3 // 1 = 2° |
402 | unsigned char Heading; //3 // 1 = 2° |
385 | unsigned int Speed; //4+5 // in km/h |
403 | unsigned int Speed; //4+5 // in km/h |
386 | unsigned char Lat_North; //6 |
404 | unsigned char Lat_North; //6 |
387 | unsigned char Lat_G; //7 |
405 | unsigned char Lat_G; //7 |
388 | unsigned char Lat_M; //8 |
406 | unsigned char Lat_M; //8 |
389 | unsigned char Lat_Sek1; //9 |
407 | unsigned char Lat_Sek1; //9 |
390 | unsigned char Lat_Sek2; //10 |
408 | unsigned char Lat_Sek2; //10 |
391 | unsigned char Lon_East; //11 |
409 | unsigned char Lon_East; //11 |
392 | unsigned char Lon_G; //12 |
410 | unsigned char Lon_G; //12 |
393 | unsigned char Lon_M; //13 |
411 | unsigned char Lon_M; //13 |
394 | unsigned char Lon_Sek1; //14 |
412 | unsigned char Lon_Sek1; //14 |
395 | unsigned char Lon_Sek2; //15 |
413 | unsigned char Lon_Sek2; //15 |
396 | unsigned int Distance; //16+17 // 9000 = 0m |
414 | unsigned int Distance; //16+17 // 9000 = 0m |
397 | unsigned int Altitude; //18+19 // 500 = 0m |
415 | unsigned int Altitude; //18+19 // 500 = 0m |
398 | unsigned int m_sec; //20+21 // 3000 = 0 |
416 | unsigned int m_sec; //20+21 // 3000 = 0 |
399 | unsigned int m_3sec; //22+23 // 3000 = 0 |
417 | unsigned int m_3sec; //22+23 // 3000 = 0 |
400 | unsigned int m_10sec; //24+25 // 3000 = 0 |
418 | unsigned int m_10sec; //24+25 // 3000 = 0 |
401 | unsigned char NullByte; // 0x00 |
419 | unsigned char NullByte; // 0x00 |
402 | unsigned char NullByte1; // 0x00 |
420 | unsigned char NullByte1; // 0x00 |
403 | unsigned char EndByte; // 0x7D |
421 | unsigned char EndByte; // 0x7D |
404 | } GPSPacket_t; |
422 | } GPSPacket_t; |
405 | */ |
423 | */ |
406 | /* |
424 | /* |
407 | typedef struct |
425 | typedef struct |
408 | { |
426 | { |
409 | unsigned char StartByte; //0 0x7C |
427 | unsigned char StartByte; //0 0x7C |
410 | unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID |
428 | unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID |
411 | unsigned char WarnBeep; //2 Anzahl der Töne 0..36 |
429 | unsigned char WarnBeep; //2 Anzahl der Töne 0..36 |
412 | unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert) |
430 | unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert) |
413 | unsigned char VoltageCell2; //4 |
431 | unsigned char VoltageCell2; //4 |
414 | unsigned char VoltageCell3; //5 |
432 | unsigned char VoltageCell3; //5 |
415 | unsigned char VoltageCell4; //6 |
433 | unsigned char VoltageCell4; //6 |
416 | unsigned char VoltageCell5; //7 |
434 | unsigned char VoltageCell5; //7 |
417 | unsigned char VoltageCell6; //8 |
435 | unsigned char VoltageCell6; //8 |
418 | unsigned int Battery1; //9 51 = 5,1V |
436 | unsigned int Battery1; //9 51 = 5,1V |
419 | unsigned int Battery2; //11 51 = 5,1V |
437 | unsigned int Battery2; //11 51 = 5,1V |
420 | unsigned char Temperature1; //13 44 = 24°C, 0 = -20°C |
438 | unsigned char Temperature1; //13 44 = 24°C, 0 = -20°C |
421 | unsigned char Temperature2; //14 44 = 24°C, 0 = -20°C |
439 | unsigned char Temperature2; //14 44 = 24°C, 0 = -20°C |
422 | unsigned char FuelPercent; //15 |
440 | unsigned char FuelPercent; //15 |
423 | signed int FuelCapacity; //16 |
441 | signed int FuelCapacity; //16 |
424 | unsigned int Rpm; |
442 | unsigned int Rpm; |
425 | unsigned int Altitude; |
443 | unsigned int Altitude; |
426 | unsigned int m_sec; // 3000 = 0 |
444 | unsigned int m_sec; // 3000 = 0 |
427 | unsigned char m_3sec; // 120 = 0 |
445 | unsigned char m_3sec; // 120 = 0 |
428 | unsigned int Current; // 1 = 0.1A |
446 | unsigned int Current; // 1 = 0.1A |
429 | unsigned int InputVoltage; // 66 = 6,6V |
447 | unsigned int InputVoltage; // 66 = 6,6V |
430 | unsigned int Capacity; // 1 = 10mAh |
448 | unsigned int Capacity; // 1 = 10mAh |
431 | unsigned char NullByte1; // 0x00 |
449 | unsigned char NullByte1; // 0x00 |
432 | unsigned char NullByte2; // 0x00 |
450 | unsigned char NullByte2; // 0x00 |
433 | unsigned char EndByte; // 0x7D |
451 | unsigned char EndByte; // 0x7D |
434 | } HoTTGeneral_t; |
452 | } HoTTGeneral_t; |
435 | */ |
453 | */ |
436 | case SPI_NCCMD_HOTT_INFO: |
454 | case SPI_NCCMD_HOTT_INFO: |
437 | switch(hott_index++) |
455 | switch(hott_index++) |
438 | { |
456 | { |
439 | case 0: |
457 | case 0: |
440 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
458 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
441 | //53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
459 | //53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
442 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
460 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
443 | ToFlightCtrl.Param.Byte[0] = 3; // index |
461 | ToFlightCtrl.Param.Byte[0] = 3; // index |
444 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
462 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
445 | //----------------------------- |
463 | //----------------------------- |
446 | ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2; |
464 | ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2; |
447 | i1 = GPSData.Speed_Ground; // in cm/sec |
465 | i1 = GPSData.Speed_Ground; // in cm/sec |
448 | i1 *= 36; |
466 | i1 *= 36; |
449 | i1 /= 1000; |
467 | i1 /= 1000; |
450 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
468 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
451 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
469 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
452 | //----------------------------- |
470 | //----------------------------- |
453 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S |
471 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S |
454 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
472 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
455 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
473 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
456 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
474 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
457 | i1 *= 100; |
475 | i1 *= 100; |
458 | i1 += i2 / 100000; |
476 | i1 += i2 / 100000; |
459 | i2 = i2 % 100000; |
477 | i2 = i2 % 100000; |
460 | i2 /= 10; |
478 | i2 /= 10; |
461 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
479 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
462 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
480 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
463 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
481 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
464 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
482 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
465 | break; |
483 | break; |
466 | case 1: |
484 | case 1: |
467 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
485 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
468 | ToFlightCtrl.Param.Byte[0] = 11; // index |
486 | ToFlightCtrl.Param.Byte[0] = 11; // index |
469 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
487 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
470 | //----------------------------- |
488 | //----------------------------- |
471 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
489 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
472 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
490 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
473 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
491 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
474 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
492 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
475 | i1 *= 100; |
493 | i1 *= 100; |
476 | i1 += i2 / 100000; |
494 | i1 += i2 / 100000; |
477 | i2 = i2 % 100000; |
495 | i2 = i2 % 100000; |
478 | i2 /= 10; |
496 | i2 /= 10; |
479 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
497 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
480 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
498 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
481 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
499 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
482 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
500 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
483 | //----------------------------- |
501 | //----------------------------- |
484 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
502 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
485 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
503 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
486 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
504 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
487 | break; |
505 | break; |
488 | case 2: |
506 | case 2: |
489 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
507 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
490 | ToFlightCtrl.Param.Byte[0] = 5; // index |
508 | ToFlightCtrl.Param.Byte[0] = 5; // index |
491 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
509 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
492 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
510 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
493 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
511 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
494 | hott_index = 0; |
512 | hott_index = 0; |
495 | break; |
513 | break; |
496 | default: |
514 | default: |
497 | ToFlightCtrl.Param.Byte[0] = 255; |
515 | ToFlightCtrl.Param.Byte[0] = 255; |
498 | hott_index = 0; |
516 | hott_index = 0; |
499 | break; |
517 | break; |
500 | } |
518 | } |
501 | break; |
519 | break; |
502 | default: |
520 | default: |
503 | break; |
521 | break; |
504 | // 0 = 0,1 |
522 | // 0 = 0,1 |
505 | // 1 = 2,3 |
523 | // 1 = 2,3 |
506 | // 2 = 4,5 |
524 | // 2 = 4,5 |
507 | // 3 = 6,7 |
525 | // 3 = 6,7 |
508 | // 4 = 8,9 |
526 | // 4 = 8,9 |
509 | // 5 = 10,11 |
527 | // 5 = 10,11 |
510 | } |
528 | } |
511 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
529 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
512 | 530 | ||
513 | switch(FromFlightCtrl.Command) |
531 | switch(FromFlightCtrl.Command) |
514 | { |
532 | { |
515 | case SPI_FCCMD_USER: |
533 | case SPI_FCCMD_USER: |
516 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
534 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
517 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
535 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
518 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
536 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
519 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
537 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
520 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
538 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
521 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
539 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
522 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
540 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
523 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
541 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
524 | if(ClearFCStatusFlags) |
542 | if(ClearFCStatusFlags) |
525 | { |
543 | { |
526 | FC.StatusFlags = 0; |
544 | FC.StatusFlags = 0; |
527 | ClearFCStatusFlags = 0; |
545 | ClearFCStatusFlags = 0; |
528 | } |
546 | } |
529 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
547 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
530 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
548 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
531 | { |
549 | { |
532 | HeadFreeStartAngle = Compass_Heading * 10; |
550 | HeadFreeStartAngle = Compass_Heading * 10; |
533 | Compass_Init(); |
551 | Compass_Init(); |
534 | FCCalibActive = 10; |
552 | FCCalibActive = 10; |
535 | FC_is_Calibrated = 0; |
553 | FC_is_Calibrated = 0; |
536 | } |
554 | } |
537 | else |
555 | else |
538 | { |
556 | { |
539 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
557 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
540 | } |
558 | } |
541 | if(FC.StatusFlags & FC_STATUS_START) |
559 | if(FC.StatusFlags & FC_STATUS_START) |
542 | { |
560 | { |
543 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
561 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
544 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
562 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
545 | } |
563 | } |
546 | 564 | ||
547 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
565 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
548 | { |
566 | { |
549 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
567 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
550 | { |
568 | { |
551 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
569 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
552 | { |
570 | { |
553 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
571 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
554 | } |
572 | } |
555 | else // Ansonsten die aktuelle Richtung übernehmen |
573 | else // Ansonsten die aktuelle Richtung übernehmen |
556 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
574 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
557 | } |
575 | } |
558 | } |
576 | } |
559 | 577 | ||
560 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
578 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
561 | 579 | ||
562 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
580 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
563 | DebugOut.Analog[5] = FC.StatusFlags; |
581 | DebugOut.Analog[5] = FC.StatusFlags; |
564 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
582 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
565 | NaviData.FCStatusFlags = FC.StatusFlags; |
583 | NaviData.FCStatusFlags = FC.StatusFlags; |
566 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
584 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
567 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
585 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
568 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
586 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
569 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
587 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
570 | break; |
588 | break; |
571 | 589 | ||
572 | case SPI_FCCMD_ACCU: |
590 | case SPI_FCCMD_ACCU: |
573 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
591 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
574 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
592 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
575 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
593 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
576 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
594 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
577 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
595 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
578 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7]; |
596 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7]; |
579 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8]; |
597 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8]; |
580 | MotorTemperature[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[10]; |
598 | MotorTemperature[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[10]; |
581 | MotorCurrent[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[11]; |
599 | MotorCurrent[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[11]; |
582 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
600 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
583 | { |
601 | { |
584 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
602 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
585 | } |
603 | } |
586 | NaviData.UBat = FC.BAT_Voltage; |
604 | NaviData.UBat = FC.BAT_Voltage; |
587 | NaviData.Current = FC.BAT_Current; |
605 | NaviData.Current = FC.BAT_Current; |
588 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
606 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
589 | break; |
607 | break; |
590 | 608 | ||
591 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
609 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
592 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
610 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
593 | 611 | ||
594 | case SPI_FCCMD_PARAMETER1: |
612 | case SPI_FCCMD_PARAMETER1: |
595 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
613 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
596 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
614 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
597 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
615 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
598 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
616 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
599 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
617 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
600 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
618 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
601 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
619 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
602 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
620 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
603 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
621 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
604 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
622 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
605 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
623 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
606 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
624 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
607 | break; |
625 | break; |
608 | 626 | ||
609 | case SPI_FCCMD_STICK: |
627 | case SPI_FCCMD_STICK: |
610 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
628 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
611 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
629 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
612 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
630 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
613 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
631 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
614 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
632 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
615 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
633 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
616 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
634 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
617 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
635 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
618 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
636 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
619 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
637 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
620 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
638 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
621 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
639 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
622 | break; |
640 | break; |
623 | 641 | ||
624 | case SPI_FCCMD_MISC: |
642 | case SPI_FCCMD_MISC: |
625 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
643 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
626 | { // put only new CompassCalState into queue to send via I2C |
644 | { // put only new CompassCalState into queue to send via I2C |
627 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
645 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
628 | Compass_SetCalState(CompassCalState); |
646 | Compass_SetCalState(CompassCalState); |
629 | } |
647 | } |
630 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
648 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
631 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
649 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
632 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
650 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
633 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
651 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
634 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
652 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
635 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
653 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
636 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
654 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
637 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
655 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
638 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
656 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
639 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
657 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
640 | // NaviData.RC_RSSI = FC.RC_RSSI; |
658 | // NaviData.RC_RSSI = FC.RC_RSSI; |
641 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
659 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
642 | break; |
660 | break; |
643 | 661 | ||
644 | case SPI_FCCMD_SERVOS: |
662 | case SPI_FCCMD_SERVOS: |
645 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
663 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
646 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
664 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
647 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
665 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
648 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
666 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
649 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
667 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
650 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
668 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
651 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
669 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
652 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
670 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
653 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
671 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
654 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
672 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
655 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
673 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
656 | break; |
674 | break; |
657 | 675 | ||
658 | case SPI_FCCMD_VERSION: |
676 | case SPI_FCCMD_VERSION: |
659 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
677 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
660 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
678 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
661 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
679 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
662 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
680 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
663 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
681 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
664 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
682 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
665 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
683 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
666 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
684 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
667 | FC.Error[3] |= FromFlightCtrl.Param.Byte[8]; |
685 | FC.Error[3] |= FromFlightCtrl.Param.Byte[8]; |
668 | FC.Error[4] |= FromFlightCtrl.Param.Byte[9]; |
686 | FC.Error[4] |= FromFlightCtrl.Param.Byte[9]; |
669 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
687 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
670 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
688 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
671 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
689 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
672 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
690 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
673 | else DebugOut.StatusRed &= ~AMPEL_FC; |
691 | else DebugOut.StatusRed &= ~AMPEL_FC; |
674 | break; |
692 | break; |
675 | default: |
693 | default: |
676 | break; |
694 | break; |
677 | } |
695 | } |
678 | 696 | ||
679 | // every time we got new data from the FC via SPI call the navigation routine |
697 | // every time we got new data from the FC via SPI call the navigation routine |
680 | // and update GPSStick that are returned to FC |
698 | // and update GPSStick that are returned to FC |
681 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
699 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
682 | ClearFCStatusFlags = 1; |
700 | ClearFCStatusFlags = 1; |
683 | 701 | ||
684 | if(counter) |
702 | if(counter) |
685 | { |
703 | { |
686 | counter--; // count down to enable servo |
704 | counter--; // count down to enable servo |
687 | if(!counter) TIMER2_Init(); // enable Servo Output |
705 | if(!counter) TIMER2_Init(); // enable Servo Output |
688 | } |
706 | } |
689 | 707 | ||
690 | SPI_RxBuffer_Request = 0; |
708 | SPI_RxBuffer_Request = 0; |
691 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
709 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
692 | 710 | ||
693 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
711 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
694 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
712 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
695 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
713 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
696 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
714 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
697 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
715 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
698 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
716 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
699 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
717 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
700 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
718 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
701 | } // EOF if(SPI_RxBuffer_Request) |
719 | } // EOF if(SPI_RxBuffer_Request) |
702 | else // no new SPI data |
720 | else // no new SPI data |
703 | { |
721 | { |
704 | if(CheckDelay(timeout) && (counter == 0)) |
722 | if(CheckDelay(timeout) && (counter == 0)) |
705 | { |
723 | { |
706 | TIMER2_Deinit(); // disable Servo Output |
724 | TIMER2_Deinit(); // disable Servo Output |
707 | counter = 50; // reset counter for enabling Servo Output |
725 | counter = 50; // reset counter for enabling Servo Output |
708 | } |
726 | } |
709 | } |
727 | } |
710 | } |
728 | } |
711 | 729 | ||
712 | //------------------------------------------------------ |
730 | //------------------------------------------------------ |
713 | void SPI0_GetFlightCtrlVersion(void) |
731 | void SPI0_GetFlightCtrlVersion(void) |
714 | { |
732 | { |
715 | u32 timeout; |
733 | u32 timeout; |
716 | u8 repeat; |
734 | u8 repeat; |
717 | u8 msg[64]; |
735 | u8 msg[64]; |
718 | 736 | ||
719 | UART1_PutString("\r\n Looking for FlightControl"); |
737 | UART1_PutString("\r\n Looking for FlightControl"); |
720 | FC_Version.Major = 0xFF; |
738 | FC_Version.Major = 0xFF; |
721 | FC_Version.Minor = 0xFF; |
739 | FC_Version.Minor = 0xFF; |
722 | FC_Version.Patch = 0xFF; |
740 | FC_Version.Patch = 0xFF; |
723 | FC_Version.Compatible = 0xFF; |
741 | FC_Version.Compatible = 0xFF; |
724 | 742 | ||
725 | // polling FC version info |
743 | // polling FC version info |
726 | repeat = 0; |
744 | repeat = 0; |
727 | do |
745 | do |
728 | { |
746 | { |
729 | timeout = SetDelay(250); |
747 | timeout = SetDelay(250); |
730 | do |
748 | do |
731 | { |
749 | { |
732 | SPI0_UpdateBuffer(); |
750 | SPI0_UpdateBuffer(); |
733 | if (FC_Version.Major != 0xFF) break; |
751 | if (FC_Version.Major != 0xFF) break; |
734 | }while (!CheckDelay(timeout)); |
752 | }while (!CheckDelay(timeout)); |
735 | UART1_PutString("."); |
753 | UART1_PutString("."); |
736 | repeat++; |
754 | repeat++; |
737 | FCCalibActive = 1; |
755 | FCCalibActive = 1; |
738 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
756 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
739 | // if we got it |
757 | // if we got it |
740 | if (FC_Version.Major != 0xFF) |
758 | if (FC_Version.Major != 0xFF) |
741 | { |
759 | { |
742 | 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); |
760 | 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); |
743 | UART1_PutString(msg); |
761 | UART1_PutString(msg); |
744 | } |
762 | } |
745 | else UART1_PutString("\n\r not found!"); |
763 | else UART1_PutString("\n\r not found!"); |
746 | } |
764 | } |
747 | 765 | ||
748 | 766 | ||
749 | 767 |