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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
44 | // |
44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | 57 | ||
58 | #include <string.h> |
58 | #include <string.h> |
59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
60 | #include "led.h" |
60 | #include "led.h" |
61 | #include "gps.h" |
61 | #include "gps.h" |
62 | #include "uart1.h" |
62 | #include "uart1.h" |
63 | #include "spi_slave.h" |
63 | #include "spi_slave.h" |
64 | #include "compass.h" |
64 | #include "compass.h" |
65 | #include "timer1.h" |
65 | #include "timer1.h" |
66 | #include "timer2.h" |
66 | #include "timer2.h" |
67 | #include "config.h" |
67 | #include "config.h" |
68 | #include "main.h" |
68 | #include "main.h" |
69 | #include "compass.h" |
69 | #include "compass.h" |
70 | #include "params.h" |
70 | #include "params.h" |
71 | 71 | ||
72 | #define SPI_RXSYNCBYTE1 0xAA |
72 | #define SPI_RXSYNCBYTE1 0xAA |
73 | #define SPI_RXSYNCBYTE2 0x83 |
73 | #define SPI_RXSYNCBYTE2 0x83 |
74 | #define SPI_TXSYNCBYTE1 0x81 |
74 | #define SPI_TXSYNCBYTE1 0x81 |
75 | #define SPI_TXSYNCBYTE2 0x55 |
75 | #define SPI_TXSYNCBYTE2 0x55 |
76 | 76 | ||
77 | //communication packets |
77 | //communication packets |
78 | FromFlightCtrl_t FromFlightCtrl; |
78 | FromFlightCtrl_t FromFlightCtrl; |
79 | ToFlightCtrl_t ToFlightCtrl; |
79 | ToFlightCtrl_t ToFlightCtrl; |
80 | #define SPI0_TIMEOUT 500 // 500ms |
80 | #define SPI0_TIMEOUT 500 // 500ms |
81 | volatile u32 SPI0_Timeout = 0; |
81 | volatile u32 SPI0_Timeout = 0; |
82 | 82 | ||
83 | // tx packet buffer |
83 | // tx packet buffer |
84 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
84 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
85 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
85 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
86 | volatile u8 SPI_TxBufferIndex = 0; |
86 | volatile u8 SPI_TxBufferIndex = 0; |
87 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
87 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
88 | 88 | ||
89 | // rx packet buffer |
89 | // rx packet buffer |
90 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
90 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
91 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
91 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
92 | volatile u8 SPI_RxBufferIndex = 0; |
92 | volatile u8 SPI_RxBufferIndex = 0; |
93 | volatile u8 SPI_RxBuffer_Request = 0; |
93 | volatile u8 SPI_RxBuffer_Request = 0; |
94 | #define SPI_COMMAND_INDEX 0 |
94 | #define SPI_COMMAND_INDEX 0 |
95 | 95 | ||
96 | s32 Kalman_K = 32; |
96 | s32 Kalman_K = 32; |
97 | s32 Kalman_MaxDrift = 5 * 16; |
97 | s32 Kalman_MaxDrift = 5 * 16; |
98 | s32 Kalman_MaxFusion = 64; |
98 | s32 Kalman_MaxFusion = 64; |
99 | s32 ToFcGpsZ = 0; |
99 | s32 ToFcGpsZ = 0; |
100 | 100 | ||
101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
102 | u8 SPI_CommandCounter = 0; |
102 | u8 SPI_CommandCounter = 0; |
103 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
103 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
104 | s32 HeadFreeStartAngle = 0; |
104 | s32 HeadFreeStartAngle = 0; |
105 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
105 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
106 | u32 ToFC_AltitudeRate = 0; |
106 | u32 ToFC_AltitudeRate = 0; |
107 | s32 ToFC_AltitudeSetpoint = 0; |
107 | s32 ToFC_AltitudeSetpoint = 0; |
108 | u8 FromFC_VarioCharacter = ' '; |
108 | u8 FromFC_VarioCharacter = ' '; |
109 | u8 DisableFC_Sticks = 0; |
109 | u8 DisableFC_Sticks = 0; |
110 | 110 | ||
111 | SPI_Version_t FC_Version; |
111 | SPI_Version_t FC_Version; |
112 | 112 | ||
113 | //-------------------------------------------------------------- |
113 | //-------------------------------------------------------------- |
114 | void SSP0_IRQHandler(void) |
114 | void SSP0_IRQHandler(void) |
115 | { |
115 | { |
116 | static u8 rxchksum = 0; |
116 | static u8 rxchksum = 0; |
117 | u8 rxdata; |
117 | u8 rxdata; |
118 | 118 | ||
119 | #define SPI_SYNC1 0 |
119 | #define SPI_SYNC1 0 |
120 | #define SPI_SYNC2 1 |
120 | #define SPI_SYNC2 1 |
121 | #define SPI_DATA 2 |
121 | #define SPI_DATA 2 |
122 | static u8 SPI_State = SPI_SYNC1; |
122 | static u8 SPI_State = SPI_SYNC1; |
123 | 123 | ||
124 | IENABLE; |
124 | IENABLE; |
125 | 125 | ||
126 | // clear pending bits |
126 | // clear pending bits |
127 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
127 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
128 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
128 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
129 | 129 | ||
130 | // while RxFIFO not empty |
130 | // while RxFIFO not empty |
131 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
131 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
132 | { |
132 | { |
133 | rxdata = SSP0->DR; // catch the received byte |
133 | rxdata = SSP0->DR; // catch the received byte |
134 | // Fill TxFIFO while its not full or end of packet is reached |
134 | // Fill TxFIFO while its not full or end of packet is reached |
135 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
135 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
136 | { |
136 | { |
137 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
137 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
138 | { |
138 | { |
139 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
139 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
140 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
140 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
141 | SPI_TxBufferIndex++; // pointer to next byte |
141 | SPI_TxBufferIndex++; // pointer to next byte |
142 | } |
142 | } |
143 | else // end of packet is reached reset and copy data to tx buffer |
143 | else // end of packet is reached reset and copy data to tx buffer |
144 | { |
144 | { |
145 | SPI_TxBufferIndex = 0; // reset buffer index |
145 | SPI_TxBufferIndex = 0; // reset buffer index |
146 | ToFlightCtrl.Chksum = 0; // initialize checksum |
146 | ToFlightCtrl.Chksum = 0; // initialize checksum |
147 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
147 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
148 | BeepTime = 0; // reset local beeptime |
148 | BeepTime = 0; // reset local beeptime |
149 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
149 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
150 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
150 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
151 | } |
151 | } |
152 | } |
152 | } |
153 | switch (SPI_State) |
153 | switch (SPI_State) |
154 | { |
154 | { |
155 | case SPI_SYNC1: |
155 | case SPI_SYNC1: |
156 | SPI_RxBufferIndex = 0; // reset buffer index |
156 | SPI_RxBufferIndex = 0; // reset buffer index |
157 | rxchksum = rxdata; // init checksum |
157 | rxchksum = rxdata; // init checksum |
158 | if (rxdata == SPI_RXSYNCBYTE1) |
158 | if (rxdata == SPI_RXSYNCBYTE1) |
159 | { // 1st syncbyte ok |
159 | { // 1st syncbyte ok |
160 | SPI_State = SPI_SYNC2; // step to sync2 |
160 | SPI_State = SPI_SYNC2; // step to sync2 |
161 | } |
161 | } |
162 | break; |
162 | break; |
163 | case SPI_SYNC2: |
163 | case SPI_SYNC2: |
164 | if (rxdata == SPI_RXSYNCBYTE2) |
164 | if (rxdata == SPI_RXSYNCBYTE2) |
165 | { // 2nd Syncbyte ok |
165 | { // 2nd Syncbyte ok |
166 | rxchksum += rxdata; |
166 | rxchksum += rxdata; |
167 | SPI_State = SPI_DATA; |
167 | SPI_State = SPI_DATA; |
168 | } // 2nd Syncbyte does not match |
168 | } // 2nd Syncbyte does not match |
169 | else |
169 | else |
170 | { |
170 | { |
171 | SPI_State = SPI_SYNC1; //jump back to sync1 |
171 | SPI_State = SPI_SYNC1; //jump back to sync1 |
172 | } |
172 | } |
173 | break; |
173 | break; |
174 | case SPI_DATA: |
174 | case SPI_DATA: |
175 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
175 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
176 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
176 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
177 | { |
177 | { |
178 | if (rxdata == rxchksum) // verify checksum byte |
178 | if (rxdata == rxchksum) // verify checksum byte |
179 | { |
179 | { |
180 | // copy SPI_RxBuffer -> FromFlightCtrl |
180 | // copy SPI_RxBuffer -> FromFlightCtrl |
181 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
181 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
182 | { |
182 | { |
183 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
183 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
184 | SPI_RxBuffer_Request = 1; |
184 | SPI_RxBuffer_Request = 1; |
185 | } |
185 | } |
186 | // reset timeout counter on good packet |
186 | // reset timeout counter on good packet |
187 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
187 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
188 | DebugOut.Analog[13]++; |
188 | DebugOut.Analog[13]++; |
189 | } |
189 | } |
190 | else // bad checksum byte |
190 | else // bad checksum byte |
191 | { |
191 | { |
192 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
192 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
193 | } |
193 | } |
194 | SPI_State = SPI_SYNC1; // reset state |
194 | SPI_State = SPI_SYNC1; // reset state |
195 | } |
195 | } |
196 | else // end of packet not reached |
196 | else // end of packet not reached |
197 | { |
197 | { |
198 | rxchksum += rxdata; // update checksum |
198 | rxchksum += rxdata; // update checksum |
199 | } |
199 | } |
200 | break; |
200 | break; |
201 | default: |
201 | default: |
202 | SPI_State = SPI_SYNC1; |
202 | SPI_State = SPI_SYNC1; |
203 | break; |
203 | break; |
204 | } |
204 | } |
205 | } |
205 | } |
206 | 206 | ||
207 | IDISABLE; |
207 | IDISABLE; |
208 | } |
208 | } |
209 | 209 | ||
210 | //-------------------------------------------------------------- |
210 | //-------------------------------------------------------------- |
211 | void SPI0_Init(void) |
211 | void SPI0_Init(void) |
212 | { |
212 | { |
213 | GPIO_InitTypeDef GPIO_InitStructure; |
213 | GPIO_InitTypeDef GPIO_InitStructure; |
214 | SSP_InitTypeDef SSP_InitStructure; |
214 | SSP_InitTypeDef SSP_InitStructure; |
215 | 215 | ||
216 | UART1_PutString("\r\n SPI init..."); |
216 | UART1_PutString("\r\n SPI init..."); |
217 | 217 | ||
218 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
218 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
219 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
219 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
220 | 220 | ||
221 | GPIO_DeInit(GPIO2); |
221 | GPIO_DeInit(GPIO2); |
222 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
222 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
223 | GPIO_StructInit(&GPIO_InitStructure); |
223 | GPIO_StructInit(&GPIO_InitStructure); |
224 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
224 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
225 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
225 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
226 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
226 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
227 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
227 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
228 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
228 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
229 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
229 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
230 | 230 | ||
231 | // SSP0_MISO pin GPIO2.6 |
231 | // SSP0_MISO pin GPIO2.6 |
232 | GPIO_StructInit(&GPIO_InitStructure); |
232 | GPIO_StructInit(&GPIO_InitStructure); |
233 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
233 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
234 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
234 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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_OutputAlt2; //SSP0_MISO |
237 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
238 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
238 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
239 | 239 | ||
240 | SSP_DeInit(SSP0); |
240 | SSP_DeInit(SSP0); |
241 | SSP_StructInit(&SSP_InitStructure); |
241 | SSP_StructInit(&SSP_InitStructure); |
242 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
242 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
243 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
243 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
244 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
244 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
245 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
245 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
246 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
246 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
247 | SSP_InitStructure.SSP_ClockRate = 0; |
247 | SSP_InitStructure.SSP_ClockRate = 0; |
248 | 248 | ||
249 | SSP_Init(SSP0, &SSP_InitStructure); |
249 | SSP_Init(SSP0, &SSP_InitStructure); |
250 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
250 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
251 | 251 | ||
252 | SSP_Cmd(SSP0, ENABLE); |
252 | SSP_Cmd(SSP0, ENABLE); |
253 | // initialize the syncbytes in the tx buffer |
253 | // initialize the syncbytes in the tx buffer |
254 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
254 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
255 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
255 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
256 | // set the pointer to the checksum byte in the tx buffer |
256 | // set the pointer to the checksum byte in the tx buffer |
257 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
257 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
258 | 258 | ||
259 | ToFlightCtrl.GPSStick.Nick = 0; |
259 | ToFlightCtrl.GPSStick.Nick = 0; |
260 | ToFlightCtrl.GPSStick.Roll = 0; |
260 | ToFlightCtrl.GPSStick.Roll = 0; |
261 | ToFlightCtrl.GPSStick.Yaw = 0; |
261 | ToFlightCtrl.GPSStick.Yaw = 0; |
262 | 262 | ||
263 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
263 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
264 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
264 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
265 | 265 | ||
266 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
266 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
267 | 267 | ||
268 | UART1_PutString("ok"); |
268 | UART1_PutString("ok"); |
269 | } |
269 | } |
270 | 270 | ||
271 | 271 | ||
272 | //------------------------------------------------------ |
272 | //------------------------------------------------------ |
273 | void SPI0_UpdateBuffer(void) |
273 | void SPI0_UpdateBuffer(void) |
274 | { |
274 | { |
275 | static u32 timeout = 0; |
275 | static u32 timeout = 0; |
276 | static u8 counter = 50; |
276 | static u8 counter = 50; |
277 | static u8 CompassCalState = 0; |
277 | static u8 CompassCalState = 0; |
278 | static u8 FCCalibActive = 0; |
278 | static u8 FCCalibActive = 0; |
279 | s16 tmp; |
279 | s16 tmp; |
280 | 280 | ||
281 | if (SPI_RxBuffer_Request) |
281 | if (SPI_RxBuffer_Request) |
282 | { |
282 | { |
283 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
283 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
284 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
284 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
285 | ToFlightCtrl.CompassHeading = Compass_Heading; |
285 | ToFlightCtrl.CompassHeading = Compass_Heading; |
286 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
286 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
287 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
287 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
288 | ToFlightCtrl.MagVecX = MagVector.X; |
288 | ToFlightCtrl.MagVecX = MagVector.X; |
289 | ToFlightCtrl.MagVecY = MagVector.Y; |
289 | ToFlightCtrl.MagVecY = MagVector.Y; |
290 | ToFlightCtrl.MagVecZ = MagVector.Z; |
290 | ToFlightCtrl.MagVecZ = MagVector.Z; |
291 | ToFlightCtrl.NCStatus = 0; |
291 | ToFlightCtrl.NCStatus = 0; |
292 | // cycle spi commands |
292 | // cycle spi commands |
293 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
293 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
294 | // restart command cycle at the end |
294 | // restart command cycle at the end |
295 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
295 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
296 | #define FLAG_GPS_AID 0x01 |
296 | #define FLAG_GPS_AID 0x01 |
297 | switch (ToFlightCtrl.Command) |
297 | switch (ToFlightCtrl.Command) |
298 | { |
298 | { |
299 | case SPI_NCCMD_KALMAN: |
299 | case SPI_NCCMD_KALMAN: |
300 | CalcHeadFree(); |
300 | CalcHeadFree(); |
301 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
301 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
302 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
302 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
303 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
303 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
304 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
304 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
305 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
305 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
306 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
306 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
307 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
307 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
308 | if(DisableFC_Sticks) ToFlightCtrl.Param.Byte[7] = FLAG_GPS_AID; else ToFlightCtrl.Param.Byte[7] = 0x00; |
308 | if(DisableFC_Sticks) ToFlightCtrl.Param.Byte[7] = FLAG_GPS_AID; else ToFlightCtrl.Param.Byte[7] = 0x00; |
309 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
309 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
310 | { |
310 | { |
311 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
311 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
312 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
312 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
313 | } |
313 | } |
314 | else |
314 | else |
315 | { |
315 | { |
316 | ToFlightCtrl.Param.sInt[4] = -1; |
316 | ToFlightCtrl.Param.sInt[4] = -1; |
317 | } |
317 | } |
318 | 318 | ||
319 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
319 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
320 | { |
320 | { |
321 | ToFlightCtrl.Param.sInt[5] = tmp; |
321 | ToFlightCtrl.Param.sInt[5] = tmp; |
322 | } |
322 | } |
323 | else |
323 | else |
324 | { |
324 | { |
325 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
325 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
326 | else ToFlightCtrl.Param.sInt[5] = 0; |
326 | else ToFlightCtrl.Param.sInt[5] = 0; |
327 | } |
327 | } |
328 | break; |
328 | break; |
329 | 329 | ||
330 | case SPI_NCCMD_VERSION: |
330 | case SPI_NCCMD_VERSION: |
331 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
331 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
332 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
332 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
333 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
333 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
334 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
334 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
335 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
335 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
336 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
336 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
337 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
337 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
338 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
338 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
339 | break; |
339 | break; |
340 | 340 | ||
341 | case SPI_NCCMD_GPSINFO: |
341 | case SPI_NCCMD_GPSINFO: |
342 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
342 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
343 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
343 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
344 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
344 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
345 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
345 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
346 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
346 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
347 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
347 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
348 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
348 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
349 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
349 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
350 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
350 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
351 | { |
351 | { |
352 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
352 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
353 | } |
353 | } |
354 | else |
354 | else |
355 | { |
355 | { |
356 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
356 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
357 | } |
357 | } |
358 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
358 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
359 | { |
359 | { |
360 | ToFlightCtrl.Param.sInt[5] = tmp; |
360 | ToFlightCtrl.Param.sInt[5] = tmp; |
361 | } |
361 | } |
362 | else |
362 | else |
363 | { |
363 | { |
364 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
364 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
365 | } |
365 | } |
366 | // DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9]; |
366 | // DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9]; |
367 | // DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5]; |
367 | // DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5]; |
368 | break; |
368 | break; |
369 | 369 | ||
370 | default: |
370 | default: |
371 | break; |
371 | break; |
372 | // 0 = 0,1 |
372 | // 0 = 0,1 |
373 | // 1 = 2,3 |
373 | // 1 = 2,3 |
374 | // 2 = 4,5 |
374 | // 2 = 4,5 |
375 | // 3 = 6,7 |
375 | // 3 = 6,7 |
376 | // 4 = 8,9 |
376 | // 4 = 8,9 |
377 | // 5 = 10,11 |
377 | // 5 = 10,11 |
378 | } |
378 | } |
379 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
379 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
380 | 380 | ||
381 | 381 | ||
382 | switch(FromFlightCtrl.Command) |
382 | switch(FromFlightCtrl.Command) |
383 | { |
383 | { |
384 | case SPI_FCCMD_USER: |
384 | case SPI_FCCMD_USER: |
385 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
385 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
386 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
386 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
387 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
387 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
388 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
388 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
389 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
389 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
390 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
390 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
391 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
391 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
392 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
392 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
393 | if(ClearFCStatusFlags) |
393 | if(ClearFCStatusFlags) |
394 | { |
394 | { |
395 | FC.StatusFlags = 0; |
395 | FC.StatusFlags = 0; |
396 | ClearFCStatusFlags = 0; |
396 | ClearFCStatusFlags = 0; |
397 | } |
397 | } |
398 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
398 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
399 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
399 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
400 | { |
400 | { |
401 | Compass_Init(); |
401 | Compass_Init(); |
402 | FCCalibActive = 1; |
402 | FCCalibActive = 1; |
403 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
403 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
404 | } |
404 | } |
405 | else |
405 | else |
406 | { |
406 | { |
407 | FCCalibActive = 0; |
407 | FCCalibActive = 0; |
408 | } |
408 | } |
409 | if(FC.StatusFlags & FC_STATUS_START) HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
409 | if(FC.StatusFlags & FC_STATUS_START) HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
410 | 410 | ||
411 | if((Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE) && (NCFlags & NC_FLAG_GPS_OK)) |
411 | if((Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE) && (NCFlags & NC_FLAG_GPS_OK)) |
412 | { |
412 | { |
413 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
413 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
414 | { |
414 | { |
415 | if(NaviData.HomePositionDeviation.Distance > 100) // nur bei ausreichender distance |
415 | if(NaviData.HomePositionDeviation.Distance > 100) // nur bei ausreichender distance |
416 | { |
416 | { |
417 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800) % 3600; // in 0.1° |
417 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800) % 3600; // in 0.1° |
418 | } |
418 | } |
419 | else // Ansonsten die aktuelle Richtung übernehmen |
419 | else // Ansonsten die aktuelle Richtung übernehmen |
420 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; // in 0.1° |
420 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; // in 0.1° |
421 | 421 | ||
422 | } |
422 | } |
423 | } |
423 | } |
424 | 424 | ||
425 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
425 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
426 | DebugOut.Analog[5] = FC.StatusFlags; |
426 | DebugOut.Analog[5] = FC.StatusFlags; |
427 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
427 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
428 | NaviData.FCStatusFlags = FC.StatusFlags; |
428 | NaviData.FCStatusFlags = FC.StatusFlags; |
429 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
429 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
430 | // HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
430 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
431 | break; |
431 | break; |
432 | 432 | ||
433 | case SPI_FCCMD_ACCU: |
433 | case SPI_FCCMD_ACCU: |
434 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
434 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
435 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
435 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
436 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
436 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
437 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
437 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
438 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
438 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
439 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7]; |
439 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7]; |
440 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8]; |
440 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8]; |
441 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
441 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
442 | { |
442 | { |
443 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
443 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
444 | } |
444 | } |
445 | NaviData.UBat = FC.BAT_Voltage; |
445 | NaviData.UBat = FC.BAT_Voltage; |
446 | NaviData.Current = FC.BAT_Current; |
446 | NaviData.Current = FC.BAT_Current; |
447 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
447 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
448 | break; |
448 | break; |
449 | 449 | ||
450 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
450 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
451 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
451 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
452 | 452 | ||
453 | case SPI_FCCMD_PARAMETER1: |
453 | case SPI_FCCMD_PARAMETER1: |
454 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
454 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
455 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
455 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
456 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
456 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
457 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
457 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
458 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
458 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
459 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
459 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
460 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
460 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
461 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
461 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
462 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
462 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
463 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
463 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
464 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
464 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
465 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
465 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
466 | break; |
466 | break; |
467 | 467 | ||
468 | case SPI_FCCMD_STICK: |
468 | case SPI_FCCMD_STICK: |
469 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
469 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
470 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
470 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
471 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
471 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
472 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
472 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
473 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
473 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
474 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
474 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
475 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
475 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
476 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
476 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
477 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
477 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
478 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
478 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
479 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
479 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
480 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
480 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
481 | break; |
481 | break; |
482 | 482 | ||
483 | case SPI_FCCMD_MISC: |
483 | case SPI_FCCMD_MISC: |
484 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
484 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
485 | { // put only new CompassCalState into queue to send via I2C |
485 | { // put only new CompassCalState into queue to send via I2C |
486 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
486 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
487 | Compass_SetCalState(CompassCalState); |
487 | Compass_SetCalState(CompassCalState); |
488 | } |
488 | } |
489 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
489 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
490 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
490 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
491 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
491 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
492 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
492 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
493 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
493 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
494 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
494 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
495 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
495 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
496 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
496 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
497 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
497 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
498 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
498 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
499 | // NaviData.RC_RSSI = FC.RC_RSSI; |
499 | // NaviData.RC_RSSI = FC.RC_RSSI; |
500 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
500 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
501 | break; |
501 | break; |
502 | 502 | ||
503 | case SPI_FCCMD_SERVOS: |
503 | case SPI_FCCMD_SERVOS: |
504 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
504 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
505 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
505 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
506 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
506 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
507 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
507 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
508 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
508 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
509 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
509 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
510 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
510 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
511 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
511 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
512 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
512 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
513 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
513 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
514 | break; |
514 | break; |
515 | 515 | ||
516 | case SPI_FCCMD_VERSION: |
516 | case SPI_FCCMD_VERSION: |
517 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
517 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
518 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
518 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
519 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
519 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
520 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
520 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
521 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
521 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
522 | FC.Error[0] = FromFlightCtrl.Param.Byte[5]; |
522 | FC.Error[0] = FromFlightCtrl.Param.Byte[5]; |
523 | FC.Error[1] = FromFlightCtrl.Param.Byte[6]; |
523 | FC.Error[1] = FromFlightCtrl.Param.Byte[6]; |
524 | FC.Error[2] = FromFlightCtrl.Param.Byte[7]; |
524 | FC.Error[2] = FromFlightCtrl.Param.Byte[7]; |
525 | FC.Error[3] = FromFlightCtrl.Param.Byte[8]; |
525 | FC.Error[3] = FromFlightCtrl.Param.Byte[8]; |
526 | FC.Error[4] = FromFlightCtrl.Param.Byte[9]; |
526 | FC.Error[4] = FromFlightCtrl.Param.Byte[9]; |
527 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
527 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
528 | DebugOut.Status[0] |= 0x01; // status of FC Present |
528 | DebugOut.Status[0] |= 0x01; // status of FC Present |
529 | DebugOut.Status[0] |= 0x02; // status of BL Present |
529 | DebugOut.Status[0] |= 0x02; // status of BL Present |
530 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
530 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
531 | else DebugOut.Status[1] &= ~0x01; |
531 | else DebugOut.Status[1] &= ~0x01; |
532 | break; |
532 | break; |
533 | default: |
533 | default: |
534 | break; |
534 | break; |
535 | } |
535 | } |
536 | 536 | ||
537 | // every time we got new data from the FC via SPI call the navigation routine |
537 | // every time we got new data from the FC via SPI call the navigation routine |
538 | // and update GPSStick that are returned to FC |
538 | // and update GPSStick that are returned to FC |
539 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
539 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
540 | ClearFCStatusFlags = 1; |
540 | ClearFCStatusFlags = 1; |
541 | 541 | ||
542 | if(counter) |
542 | if(counter) |
543 | { |
543 | { |
544 | counter--; // count down to enable servo |
544 | counter--; // count down to enable servo |
545 | if(!counter) TIMER2_Init(); // enable Servo Output |
545 | if(!counter) TIMER2_Init(); // enable Servo Output |
546 | } |
546 | } |
547 | 547 | ||
548 | SPI_RxBuffer_Request = 0; |
548 | SPI_RxBuffer_Request = 0; |
549 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
549 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
550 | 550 | ||
551 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
551 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
552 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
552 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
553 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
553 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
554 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
554 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
555 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
555 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
556 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
556 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
557 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
557 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
558 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
558 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
559 | } // EOF if(SPI_RxBuffer_Request) |
559 | } // EOF if(SPI_RxBuffer_Request) |
560 | else // no new SPI data |
560 | else // no new SPI data |
561 | { |
561 | { |
562 | if(CheckDelay(timeout) && (counter == 0)) |
562 | if(CheckDelay(timeout) && (counter == 0)) |
563 | { |
563 | { |
564 | TIMER2_Deinit(); // disable Servo Output |
564 | TIMER2_Deinit(); // disable Servo Output |
565 | counter = 50; // reset counter for enabling Servo Output |
565 | counter = 50; // reset counter for enabling Servo Output |
566 | } |
566 | } |
567 | } |
567 | } |
568 | } |
568 | } |
569 | 569 | ||
570 | //------------------------------------------------------ |
570 | //------------------------------------------------------ |
571 | void SPI0_GetFlightCtrlVersion(void) |
571 | void SPI0_GetFlightCtrlVersion(void) |
572 | { |
572 | { |
573 | u32 timeout; |
573 | u32 timeout; |
574 | u8 repeat; |
574 | u8 repeat; |
575 | u8 msg[64]; |
575 | u8 msg[64]; |
576 | 576 | ||
577 | UART1_PutString("\r\n Looking for FlightControl"); |
577 | UART1_PutString("\r\n Looking for FlightControl"); |
578 | FC_Version.Major = 0xFF; |
578 | FC_Version.Major = 0xFF; |
579 | FC_Version.Minor = 0xFF; |
579 | FC_Version.Minor = 0xFF; |
580 | FC_Version.Patch = 0xFF; |
580 | FC_Version.Patch = 0xFF; |
581 | FC_Version.Compatible = 0xFF; |
581 | FC_Version.Compatible = 0xFF; |
582 | 582 | ||
583 | // polling FC version info |
583 | // polling FC version info |
584 | repeat = 0; |
584 | repeat = 0; |
585 | do |
585 | do |
586 | { |
586 | { |
587 | timeout = SetDelay(250); |
587 | timeout = SetDelay(250); |
588 | do |
588 | do |
589 | { |
589 | { |
590 | SPI0_UpdateBuffer(); |
590 | SPI0_UpdateBuffer(); |
591 | if (FC_Version.Major != 0xFF) break; |
591 | if (FC_Version.Major != 0xFF) break; |
592 | }while (!CheckDelay(timeout)); |
592 | }while (!CheckDelay(timeout)); |
593 | UART1_PutString("."); |
593 | UART1_PutString("."); |
594 | repeat++; |
594 | repeat++; |
595 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
595 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
596 | // if we got it |
596 | // if we got it |
597 | if (FC_Version.Major != 0xFF) |
597 | if (FC_Version.Major != 0xFF) |
598 | { |
598 | { |
599 | 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); |
599 | 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); |
600 | UART1_PutString(msg); |
600 | UART1_PutString(msg); |
601 | } |
601 | } |
602 | else UART1_PutString("\n\r not found!"); |
602 | else UART1_PutString("\n\r not found!"); |
603 | } |
603 | } |
604 | 604 | ||
605 | 605 | ||
606 | 606 |