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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 | u8 NC_GPS_ModeCharacter = ' '; |
110 | u8 NC_GPS_ModeCharacter = ' '; |
111 | 111 | ||
112 | SPI_Version_t FC_Version; |
112 | SPI_Version_t FC_Version; |
113 | 113 | ||
114 | //-------------------------------------------------------------- |
114 | //-------------------------------------------------------------- |
115 | void SSP0_IRQHandler(void) |
115 | void SSP0_IRQHandler(void) |
116 | { |
116 | { |
117 | static u8 rxchksum = 0; |
117 | static u8 rxchksum = 0; |
118 | u8 rxdata; |
118 | u8 rxdata; |
119 | 119 | ||
120 | #define SPI_SYNC1 0 |
120 | #define SPI_SYNC1 0 |
121 | #define SPI_SYNC2 1 |
121 | #define SPI_SYNC2 1 |
122 | #define SPI_DATA 2 |
122 | #define SPI_DATA 2 |
123 | static u8 SPI_State = SPI_SYNC1; |
123 | static u8 SPI_State = SPI_SYNC1; |
124 | 124 | ||
125 | IENABLE; |
125 | IENABLE; |
126 | 126 | ||
127 | // clear pending bits |
127 | // clear pending bits |
128 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
128 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
129 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
129 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
130 | 130 | ||
131 | // while RxFIFO not empty |
131 | // while RxFIFO not empty |
132 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
132 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
133 | { |
133 | { |
134 | rxdata = SSP0->DR; // catch the received byte |
134 | rxdata = SSP0->DR; // catch the received byte |
135 | // Fill TxFIFO while its not full or end of packet is reached |
135 | // Fill TxFIFO while its not full or end of packet is reached |
136 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
136 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
137 | { |
137 | { |
138 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
138 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
139 | { |
139 | { |
140 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
140 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
141 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
141 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
142 | SPI_TxBufferIndex++; // pointer to next byte |
142 | SPI_TxBufferIndex++; // pointer to next byte |
143 | } |
143 | } |
144 | else // end of packet is reached reset and copy data to tx buffer |
144 | else // end of packet is reached reset and copy data to tx buffer |
145 | { |
145 | { |
146 | SPI_TxBufferIndex = 0; // reset buffer index |
146 | SPI_TxBufferIndex = 0; // reset buffer index |
147 | ToFlightCtrl.Chksum = 0; // initialize checksum |
147 | ToFlightCtrl.Chksum = 0; // initialize checksum |
148 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
148 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
149 | BeepTime = 0; // reset local beeptime |
149 | BeepTime = 0; // reset local beeptime |
150 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
150 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
151 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
151 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
152 | } |
152 | } |
153 | } |
153 | } |
154 | switch (SPI_State) |
154 | switch (SPI_State) |
155 | { |
155 | { |
156 | case SPI_SYNC1: |
156 | case SPI_SYNC1: |
157 | SPI_RxBufferIndex = 0; // reset buffer index |
157 | SPI_RxBufferIndex = 0; // reset buffer index |
158 | rxchksum = rxdata; // init checksum |
158 | rxchksum = rxdata; // init checksum |
159 | if (rxdata == SPI_RXSYNCBYTE1) |
159 | if (rxdata == SPI_RXSYNCBYTE1) |
160 | { // 1st syncbyte ok |
160 | { // 1st syncbyte ok |
161 | SPI_State = SPI_SYNC2; // step to sync2 |
161 | SPI_State = SPI_SYNC2; // step to sync2 |
162 | } |
162 | } |
163 | break; |
163 | break; |
164 | case SPI_SYNC2: |
164 | case SPI_SYNC2: |
165 | if (rxdata == SPI_RXSYNCBYTE2) |
165 | if (rxdata == SPI_RXSYNCBYTE2) |
166 | { // 2nd Syncbyte ok |
166 | { // 2nd Syncbyte ok |
167 | rxchksum += rxdata; |
167 | rxchksum += rxdata; |
168 | SPI_State = SPI_DATA; |
168 | SPI_State = SPI_DATA; |
169 | } // 2nd Syncbyte does not match |
169 | } // 2nd Syncbyte does not match |
170 | else |
170 | else |
171 | { |
171 | { |
172 | SPI_State = SPI_SYNC1; //jump back to sync1 |
172 | SPI_State = SPI_SYNC1; //jump back to sync1 |
173 | } |
173 | } |
174 | break; |
174 | break; |
175 | case SPI_DATA: |
175 | case SPI_DATA: |
176 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
176 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
177 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
177 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
178 | { |
178 | { |
179 | if (rxdata == rxchksum) // verify checksum byte |
179 | if (rxdata == rxchksum) // verify checksum byte |
180 | { |
180 | { |
181 | // copy SPI_RxBuffer -> FromFlightCtrl |
181 | // copy SPI_RxBuffer -> FromFlightCtrl |
182 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
182 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
183 | { |
183 | { |
184 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
184 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
185 | SPI_RxBuffer_Request = 1; |
185 | SPI_RxBuffer_Request = 1; |
186 | } |
186 | } |
187 | // reset timeout counter on good packet |
187 | // reset timeout counter on good packet |
188 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
188 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
189 | DebugOut.Analog[13]++; |
189 | DebugOut.Analog[13]++; |
190 | } |
190 | } |
191 | else // bad checksum byte |
191 | else // bad checksum byte |
192 | { |
192 | { |
193 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
193 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
194 | } |
194 | } |
195 | SPI_State = SPI_SYNC1; // reset state |
195 | SPI_State = SPI_SYNC1; // reset state |
196 | } |
196 | } |
197 | else // end of packet not reached |
197 | else // end of packet not reached |
198 | { |
198 | { |
199 | rxchksum += rxdata; // update checksum |
199 | rxchksum += rxdata; // update checksum |
200 | } |
200 | } |
201 | break; |
201 | break; |
202 | default: |
202 | default: |
203 | SPI_State = SPI_SYNC1; |
203 | SPI_State = SPI_SYNC1; |
204 | break; |
204 | break; |
205 | } |
205 | } |
206 | } |
206 | } |
207 | 207 | ||
208 | IDISABLE; |
208 | IDISABLE; |
209 | } |
209 | } |
210 | 210 | ||
211 | //-------------------------------------------------------------- |
211 | //-------------------------------------------------------------- |
212 | void SPI0_Init(void) |
212 | void SPI0_Init(void) |
213 | { |
213 | { |
214 | GPIO_InitTypeDef GPIO_InitStructure; |
214 | GPIO_InitTypeDef GPIO_InitStructure; |
215 | SSP_InitTypeDef SSP_InitStructure; |
215 | SSP_InitTypeDef SSP_InitStructure; |
216 | 216 | ||
217 | UART1_PutString("\r\n SPI init..."); |
217 | UART1_PutString("\r\n SPI init..."); |
218 | 218 | ||
219 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
219 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
220 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
220 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
221 | 221 | ||
222 | GPIO_DeInit(GPIO2); |
222 | GPIO_DeInit(GPIO2); |
223 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
223 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
224 | GPIO_StructInit(&GPIO_InitStructure); |
224 | GPIO_StructInit(&GPIO_InitStructure); |
225 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
225 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
226 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
226 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
227 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
227 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
228 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
228 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
229 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
229 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
230 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
230 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
231 | 231 | ||
232 | // SSP0_MISO pin GPIO2.6 |
232 | // SSP0_MISO pin GPIO2.6 |
233 | GPIO_StructInit(&GPIO_InitStructure); |
233 | GPIO_StructInit(&GPIO_InitStructure); |
234 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
234 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
235 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
235 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
236 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
236 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
237 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
237 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
238 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
238 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
239 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
239 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
240 | 240 | ||
241 | SSP_DeInit(SSP0); |
241 | SSP_DeInit(SSP0); |
242 | SSP_StructInit(&SSP_InitStructure); |
242 | SSP_StructInit(&SSP_InitStructure); |
243 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
243 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
244 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
244 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
245 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
245 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
246 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
246 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
247 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
247 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
248 | SSP_InitStructure.SSP_ClockRate = 0; |
248 | SSP_InitStructure.SSP_ClockRate = 0; |
249 | 249 | ||
250 | SSP_Init(SSP0, &SSP_InitStructure); |
250 | SSP_Init(SSP0, &SSP_InitStructure); |
251 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
251 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
252 | 252 | ||
253 | SSP_Cmd(SSP0, ENABLE); |
253 | SSP_Cmd(SSP0, ENABLE); |
254 | // initialize the syncbytes in the tx buffer |
254 | // initialize the syncbytes in the tx buffer |
255 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
255 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
256 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
256 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
257 | // set the pointer to the checksum byte in the tx buffer |
257 | // set the pointer to the checksum byte in the tx buffer |
258 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
258 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
259 | 259 | ||
260 | ToFlightCtrl.GPSStick.Nick = 0; |
260 | ToFlightCtrl.GPSStick.Nick = 0; |
261 | ToFlightCtrl.GPSStick.Roll = 0; |
261 | ToFlightCtrl.GPSStick.Roll = 0; |
262 | ToFlightCtrl.GPSStick.Yaw = 0; |
262 | ToFlightCtrl.GPSStick.Yaw = 0; |
263 | 263 | ||
264 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
264 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
265 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
265 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
266 | 266 | ||
267 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
267 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
268 | 268 | ||
269 | UART1_PutString("ok"); |
269 | UART1_PutString("ok"); |
270 | } |
270 | } |
271 | 271 | ||
272 | 272 | ||
273 | //------------------------------------------------------ |
273 | //------------------------------------------------------ |
274 | void SPI0_UpdateBuffer(void) |
274 | void SPI0_UpdateBuffer(void) |
275 | { |
275 | { |
276 | static u32 timeout = 0; |
276 | static u32 timeout = 0; |
277 | static u8 counter = 50; |
277 | static u8 counter = 50; |
278 | static u8 CompassCalState = 0; |
278 | static u8 CompassCalState = 0; |
279 | static u8 FCCalibActive = 0; |
279 | static u8 FCCalibActive = 0; |
280 | s16 tmp; |
280 | s16 tmp; |
281 | 281 | ||
282 | if (SPI_RxBuffer_Request) |
282 | if (SPI_RxBuffer_Request) |
283 | { |
283 | { |
284 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
284 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
285 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
285 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
286 | ToFlightCtrl.CompassHeading = Compass_Heading; |
286 | ToFlightCtrl.CompassHeading = Compass_Heading; |
287 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
287 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
288 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
288 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
289 | // ToFlightCtrl.MagVecX = MagVector.X; |
289 | // ToFlightCtrl.MagVecX = MagVector.X; |
290 | // ToFlightCtrl.MagVecY = MagVector.Y; |
290 | // ToFlightCtrl.MagVecY = MagVector.Y; |
291 | ToFlightCtrl.MagVecZ = MagVector.Z; |
291 | ToFlightCtrl.MagVecZ = MagVector.Z; |
292 | ToFlightCtrl.NCStatus = 0; |
292 | ToFlightCtrl.NCStatus = 0; |
293 | // cycle spi commands |
293 | // cycle spi commands |
294 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
294 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
295 | // restart command cycle at the end |
295 | // restart command cycle at the end |
296 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
296 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
297 | #define FLAG_GPS_AID 0x01 |
297 | #define FLAG_GPS_AID 0x01 |
298 | switch (ToFlightCtrl.Command) |
298 | switch (ToFlightCtrl.Command) |
299 | { |
299 | { |
300 | case SPI_NCCMD_KALMAN: |
300 | case SPI_NCCMD_KALMAN: |
301 | CalcHeadFree(); |
301 | CalcHeadFree(); |
302 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
302 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
303 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
303 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
304 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
304 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
305 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
305 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
306 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
306 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
307 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
307 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
308 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
308 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
309 | if(DisableFC_Sticks) ToFlightCtrl.Param.Byte[7] = FLAG_GPS_AID; else ToFlightCtrl.Param.Byte[7] = 0x00; |
309 | if(DisableFC_Sticks) ToFlightCtrl.Param.Byte[7] = FLAG_GPS_AID; else ToFlightCtrl.Param.Byte[7] = 0x00; |
310 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
310 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
311 | { |
311 | { |
312 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
312 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
313 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
313 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
314 | } |
314 | } |
315 | else |
315 | else |
316 | { |
316 | { |
317 | ToFlightCtrl.Param.sInt[4] = -1; |
317 | ToFlightCtrl.Param.sInt[4] = -1; |
318 | } |
318 | } |
319 | 319 | ||
320 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
320 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
321 | { |
321 | { |
322 | ToFlightCtrl.Param.sInt[5] = tmp; |
322 | ToFlightCtrl.Param.sInt[5] = tmp; |
323 | } |
323 | } |
324 | else |
324 | else |
325 | { |
325 | { |
326 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
326 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
327 | else ToFlightCtrl.Param.sInt[5] = 0; |
327 | else ToFlightCtrl.Param.sInt[5] = 0; |
328 | } |
328 | } |
329 | break; |
329 | break; |
330 | 330 | ||
331 | case SPI_NCCMD_VERSION: |
331 | case SPI_NCCMD_VERSION: |
332 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
332 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
333 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
333 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
334 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
334 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
335 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
335 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
336 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
336 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
337 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
337 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
338 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
338 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
339 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
339 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
340 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
340 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
341 | break; |
341 | break; |
342 | 342 | ||
343 | case SPI_NCCMD_GPSINFO: |
343 | case SPI_NCCMD_GPSINFO: |
344 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
344 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
345 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
345 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
346 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
346 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
347 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
347 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
348 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
348 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
349 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
349 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
350 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
350 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
351 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
351 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
352 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
352 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
353 | { |
353 | { |
354 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
354 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
355 | } |
355 | } |
356 | else |
356 | else |
357 | { |
357 | { |
358 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
358 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
359 | } |
359 | } |
360 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
360 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
361 | { |
361 | { |
362 | ToFlightCtrl.Param.sInt[5] = tmp; |
362 | ToFlightCtrl.Param.sInt[5] = tmp; |
363 | } |
363 | } |
364 | else |
364 | else |
365 | { |
365 | { |
366 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
366 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
367 | } |
367 | } |
368 | // DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9]; |
368 | // DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9]; |
369 | // DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5]; |
369 | // DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5]; |
370 | break; |
370 | break; |
371 | 371 | ||
372 | default: |
372 | default: |
373 | break; |
373 | break; |
374 | // 0 = 0,1 |
374 | // 0 = 0,1 |
375 | // 1 = 2,3 |
375 | // 1 = 2,3 |
376 | // 2 = 4,5 |
376 | // 2 = 4,5 |
377 | // 3 = 6,7 |
377 | // 3 = 6,7 |
378 | // 4 = 8,9 |
378 | // 4 = 8,9 |
379 | // 5 = 10,11 |
379 | // 5 = 10,11 |
380 | } |
380 | } |
381 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
381 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
382 | 382 | ||
383 | 383 | ||
384 | switch(FromFlightCtrl.Command) |
384 | switch(FromFlightCtrl.Command) |
385 | { |
385 | { |
386 | case SPI_FCCMD_USER: |
386 | case SPI_FCCMD_USER: |
387 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
387 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
388 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
388 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
389 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
389 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
390 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
390 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
391 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
391 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
392 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
392 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
393 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
393 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
394 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
394 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
395 | if(ClearFCStatusFlags) |
395 | if(ClearFCStatusFlags) |
396 | { |
396 | { |
397 | FC.StatusFlags = 0; |
397 | FC.StatusFlags = 0; |
398 | ClearFCStatusFlags = 0; |
398 | ClearFCStatusFlags = 0; |
399 | } |
399 | } |
400 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
400 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
401 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
401 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
402 | { |
402 | { |
403 | HeadFreeStartAngle = Compass_Heading * 10; |
403 | HeadFreeStartAngle = Compass_Heading * 10; |
404 | Compass_Init(); |
404 | Compass_Init(); |
405 | FCCalibActive = 1; |
405 | FCCalibActive = 1; |
406 | } |
406 | } |
407 | else |
407 | else |
408 | { |
408 | { |
409 | FCCalibActive = 0; |
409 | FCCalibActive = 0; |
410 | } |
410 | } |
411 | if(FC.StatusFlags & FC_STATUS_START) |
411 | if(FC.StatusFlags & FC_STATUS_START) |
412 | { if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else HeadFreeStartAngle = FromFlightCtrl.GyroHeading; } |
412 | { if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else HeadFreeStartAngle = FromFlightCtrl.GyroHeading; } |
413 | 413 | ||
414 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
414 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
415 | { |
415 | { |
416 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
416 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
417 | { |
417 | { |
418 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
418 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
419 | { |
419 | { |
420 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
420 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
421 | } |
421 | } |
422 | else // Ansonsten die aktuelle Richtung übernehmen |
422 | else // Ansonsten die aktuelle Richtung übernehmen |
423 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
423 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
424 | } |
424 | } |
425 | } |
425 | } |
426 | 426 | ||
427 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
427 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
428 | 428 | ||
429 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
429 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
430 | DebugOut.Analog[5] = FC.StatusFlags; |
430 | DebugOut.Analog[5] = FC.StatusFlags; |
431 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
431 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
432 | NaviData.FCStatusFlags = FC.StatusFlags; |
432 | NaviData.FCStatusFlags = FC.StatusFlags; |
433 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
433 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
434 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
434 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
435 | break; |
435 | break; |
436 | 436 | ||
437 | case SPI_FCCMD_ACCU: |
437 | case SPI_FCCMD_ACCU: |
438 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
438 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
439 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
439 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
440 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
440 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
441 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
441 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
442 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
442 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
443 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7]; |
443 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7]; |
444 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8]; |
444 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8]; |
445 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
445 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
446 | { |
446 | { |
447 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
447 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
448 | } |
448 | } |
449 | NaviData.UBat = FC.BAT_Voltage; |
449 | NaviData.UBat = FC.BAT_Voltage; |
450 | NaviData.Current = FC.BAT_Current; |
450 | NaviData.Current = FC.BAT_Current; |
451 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
451 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
452 | break; |
452 | break; |
453 | 453 | ||
454 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
454 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
455 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
455 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
456 | 456 | ||
457 | case SPI_FCCMD_PARAMETER1: |
457 | case SPI_FCCMD_PARAMETER1: |
458 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
458 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
459 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
459 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
460 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
460 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
461 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
461 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
462 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
462 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
463 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
463 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
464 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
464 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
465 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
465 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
466 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
466 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
467 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
467 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
468 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
468 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
469 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
469 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
470 | break; |
470 | break; |
471 | 471 | ||
472 | case SPI_FCCMD_STICK: |
472 | case SPI_FCCMD_STICK: |
473 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
473 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
474 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
474 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
475 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
475 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
476 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
476 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
477 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
477 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
478 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
478 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
479 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
479 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
480 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
480 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
481 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
481 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
482 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
482 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
483 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
483 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
484 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
484 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
485 | break; |
485 | break; |
486 | 486 | ||
487 | case SPI_FCCMD_MISC: |
487 | case SPI_FCCMD_MISC: |
488 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
488 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
489 | { // put only new CompassCalState into queue to send via I2C |
489 | { // put only new CompassCalState into queue to send via I2C |
490 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
490 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
491 | Compass_SetCalState(CompassCalState); |
491 | Compass_SetCalState(CompassCalState); |
492 | } |
492 | } |
493 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
493 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
494 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
494 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
495 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
495 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
496 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
496 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
497 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
497 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
498 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
498 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
499 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
499 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
500 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
500 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
501 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
501 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
502 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
502 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
503 | // NaviData.RC_RSSI = FC.RC_RSSI; |
503 | // NaviData.RC_RSSI = FC.RC_RSSI; |
504 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
504 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
505 | break; |
505 | break; |
506 | 506 | ||
507 | case SPI_FCCMD_SERVOS: |
507 | case SPI_FCCMD_SERVOS: |
508 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
508 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
509 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
509 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
510 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
510 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
511 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
511 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
512 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
512 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
513 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
513 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
514 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
514 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
515 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
515 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
516 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
516 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
517 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
517 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
518 | break; |
518 | break; |
519 | 519 | ||
520 | case SPI_FCCMD_VERSION: |
520 | case SPI_FCCMD_VERSION: |
521 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
521 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
522 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
522 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
523 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
523 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
524 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
524 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
525 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
525 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
526 | FC.Error[0] = FromFlightCtrl.Param.Byte[5]; |
526 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
527 | FC.Error[1] = FromFlightCtrl.Param.Byte[6]; |
527 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
528 | FC.Error[2] = FromFlightCtrl.Param.Byte[7]; |
528 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
529 | FC.Error[3] = FromFlightCtrl.Param.Byte[8]; |
529 | FC.Error[3] |= FromFlightCtrl.Param.Byte[8]; |
530 | FC.Error[4] = FromFlightCtrl.Param.Byte[9]; |
530 | FC.Error[4] |= FromFlightCtrl.Param.Byte[9]; |
531 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
531 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
532 | DebugOut.Status[0] |= 0x01; // status of FC Present |
532 | DebugOut.Status[0] |= 0x01; // status of FC Present |
533 | DebugOut.Status[0] |= 0x02; // status of BL Present |
533 | DebugOut.Status[0] |= 0x02; // status of BL Present |
534 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
534 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
535 | else DebugOut.Status[1] &= ~0x01; |
535 | else DebugOut.Status[1] &= ~0x01; |
536 | break; |
536 | break; |
537 | default: |
537 | default: |
538 | break; |
538 | break; |
539 | } |
539 | } |
540 | 540 | ||
541 | // every time we got new data from the FC via SPI call the navigation routine |
541 | // every time we got new data from the FC via SPI call the navigation routine |
542 | // and update GPSStick that are returned to FC |
542 | // and update GPSStick that are returned to FC |
543 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
543 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
544 | ClearFCStatusFlags = 1; |
544 | ClearFCStatusFlags = 1; |
545 | 545 | ||
546 | if(counter) |
546 | if(counter) |
547 | { |
547 | { |
548 | counter--; // count down to enable servo |
548 | counter--; // count down to enable servo |
549 | if(!counter) TIMER2_Init(); // enable Servo Output |
549 | if(!counter) TIMER2_Init(); // enable Servo Output |
550 | } |
550 | } |
551 | 551 | ||
552 | SPI_RxBuffer_Request = 0; |
552 | SPI_RxBuffer_Request = 0; |
553 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
553 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
554 | 554 | ||
555 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
555 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
556 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
556 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
557 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
557 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
558 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
558 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
559 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
559 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
560 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
560 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
561 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
561 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
562 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
562 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
563 | } // EOF if(SPI_RxBuffer_Request) |
563 | } // EOF if(SPI_RxBuffer_Request) |
564 | else // no new SPI data |
564 | else // no new SPI data |
565 | { |
565 | { |
566 | if(CheckDelay(timeout) && (counter == 0)) |
566 | if(CheckDelay(timeout) && (counter == 0)) |
567 | { |
567 | { |
568 | TIMER2_Deinit(); // disable Servo Output |
568 | TIMER2_Deinit(); // disable Servo Output |
569 | counter = 50; // reset counter for enabling Servo Output |
569 | counter = 50; // reset counter for enabling Servo Output |
570 | } |
570 | } |
571 | } |
571 | } |
572 | } |
572 | } |
573 | 573 | ||
574 | //------------------------------------------------------ |
574 | //------------------------------------------------------ |
575 | void SPI0_GetFlightCtrlVersion(void) |
575 | void SPI0_GetFlightCtrlVersion(void) |
576 | { |
576 | { |
577 | u32 timeout; |
577 | u32 timeout; |
578 | u8 repeat; |
578 | u8 repeat; |
579 | u8 msg[64]; |
579 | u8 msg[64]; |
580 | 580 | ||
581 | UART1_PutString("\r\n Looking for FlightControl"); |
581 | UART1_PutString("\r\n Looking for FlightControl"); |
582 | FC_Version.Major = 0xFF; |
582 | FC_Version.Major = 0xFF; |
583 | FC_Version.Minor = 0xFF; |
583 | FC_Version.Minor = 0xFF; |
584 | FC_Version.Patch = 0xFF; |
584 | FC_Version.Patch = 0xFF; |
585 | FC_Version.Compatible = 0xFF; |
585 | FC_Version.Compatible = 0xFF; |
586 | 586 | ||
587 | // polling FC version info |
587 | // polling FC version info |
588 | repeat = 0; |
588 | repeat = 0; |
589 | do |
589 | do |
590 | { |
590 | { |
591 | timeout = SetDelay(250); |
591 | timeout = SetDelay(250); |
592 | do |
592 | do |
593 | { |
593 | { |
594 | SPI0_UpdateBuffer(); |
594 | SPI0_UpdateBuffer(); |
595 | if (FC_Version.Major != 0xFF) break; |
595 | if (FC_Version.Major != 0xFF) break; |
596 | }while (!CheckDelay(timeout)); |
596 | }while (!CheckDelay(timeout)); |
597 | UART1_PutString("."); |
597 | UART1_PutString("."); |
598 | repeat++; |
598 | repeat++; |
599 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
599 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
600 | // if we got it |
600 | // if we got it |
601 | if (FC_Version.Major != 0xFF) |
601 | if (FC_Version.Major != 0xFF) |
602 | { |
602 | { |
603 | 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); |
603 | 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); |
604 | UART1_PutString(msg); |
604 | UART1_PutString(msg); |
605 | } |
605 | } |
606 | else UART1_PutString("\n\r not found!"); |
606 | else UART1_PutString("\n\r not found!"); |
607 | } |
607 | } |
608 | 608 | ||
609 | 609 | ||
610 | 610 |