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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 | 70 | ||
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 | 106 | ||
107 | SPI_Version_t FC_Version; |
107 | SPI_Version_t FC_Version; |
108 | 108 | ||
109 | //-------------------------------------------------------------- |
109 | //-------------------------------------------------------------- |
110 | void SSP0_IRQHandler(void) |
110 | void SSP0_IRQHandler(void) |
111 | { |
111 | { |
112 | static u8 rxchksum = 0; |
112 | static u8 rxchksum = 0; |
113 | u8 rxdata; |
113 | u8 rxdata; |
114 | 114 | ||
115 | #define SPI_SYNC1 0 |
115 | #define SPI_SYNC1 0 |
116 | #define SPI_SYNC2 1 |
116 | #define SPI_SYNC2 1 |
117 | #define SPI_DATA 2 |
117 | #define SPI_DATA 2 |
118 | static u8 SPI_State = SPI_SYNC1; |
118 | static u8 SPI_State = SPI_SYNC1; |
119 | 119 | ||
120 | IENABLE; |
120 | IENABLE; |
121 | 121 | ||
122 | // clear pending bits |
122 | // clear pending bits |
123 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
123 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
124 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
124 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
125 | 125 | ||
126 | // while RxFIFO not empty |
126 | // while RxFIFO not empty |
127 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
127 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
128 | { |
128 | { |
129 | rxdata = SSP0->DR; // catch the received byte |
129 | rxdata = SSP0->DR; // catch the received byte |
130 | // Fill TxFIFO while its not full or end of packet is reached |
130 | // Fill TxFIFO while its not full or end of packet is reached |
131 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
131 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
132 | { |
132 | { |
133 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
133 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
134 | { |
134 | { |
135 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
135 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
136 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
136 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
137 | SPI_TxBufferIndex++; // pointer to next byte |
137 | SPI_TxBufferIndex++; // pointer to next byte |
138 | } |
138 | } |
139 | else // end of packet is reached reset and copy data to tx buffer |
139 | else // end of packet is reached reset and copy data to tx buffer |
140 | { |
140 | { |
141 | SPI_TxBufferIndex = 0; // reset buffer index |
141 | SPI_TxBufferIndex = 0; // reset buffer index |
142 | ToFlightCtrl.Chksum = 0; // initialize checksum |
142 | ToFlightCtrl.Chksum = 0; // initialize checksum |
143 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
143 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
144 | BeepTime = 0; // reset local beeptime |
144 | BeepTime = 0; // reset local beeptime |
145 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
145 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
146 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
146 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
147 | } |
147 | } |
148 | } |
148 | } |
149 | switch (SPI_State) |
149 | switch (SPI_State) |
150 | { |
150 | { |
151 | case SPI_SYNC1: |
151 | case SPI_SYNC1: |
152 | SPI_RxBufferIndex = 0; // reset buffer index |
152 | SPI_RxBufferIndex = 0; // reset buffer index |
153 | rxchksum = rxdata; // init checksum |
153 | rxchksum = rxdata; // init checksum |
154 | if (rxdata == SPI_RXSYNCBYTE1) |
154 | if (rxdata == SPI_RXSYNCBYTE1) |
155 | { // 1st syncbyte ok |
155 | { // 1st syncbyte ok |
156 | SPI_State = SPI_SYNC2; // step to sync2 |
156 | SPI_State = SPI_SYNC2; // step to sync2 |
157 | } |
157 | } |
158 | break; |
158 | break; |
159 | case SPI_SYNC2: |
159 | case SPI_SYNC2: |
160 | if (rxdata == SPI_RXSYNCBYTE2) |
160 | if (rxdata == SPI_RXSYNCBYTE2) |
161 | { // 2nd Syncbyte ok |
161 | { // 2nd Syncbyte ok |
162 | rxchksum += rxdata; |
162 | rxchksum += rxdata; |
163 | SPI_State = SPI_DATA; |
163 | SPI_State = SPI_DATA; |
164 | } // 2nd Syncbyte does not match |
164 | } // 2nd Syncbyte does not match |
165 | else |
165 | else |
166 | { |
166 | { |
167 | SPI_State = SPI_SYNC1; //jump back to sync1 |
167 | SPI_State = SPI_SYNC1; //jump back to sync1 |
168 | } |
168 | } |
169 | break; |
169 | break; |
170 | case SPI_DATA: |
170 | case SPI_DATA: |
171 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
171 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
172 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
172 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
173 | { |
173 | { |
174 | if (rxdata == rxchksum) // verify checksum byte |
174 | if (rxdata == rxchksum) // verify checksum byte |
175 | { |
175 | { |
176 | // copy SPI_RxBuffer -> FromFlightCtrl |
176 | // copy SPI_RxBuffer -> FromFlightCtrl |
177 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
177 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
178 | { |
178 | { |
179 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
179 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
180 | SPI_RxBuffer_Request = 1; |
180 | SPI_RxBuffer_Request = 1; |
181 | } |
181 | } |
182 | // reset timeout counter on good packet |
182 | // reset timeout counter on good packet |
183 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
183 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
184 | DebugOut.Analog[13]++; |
184 | DebugOut.Analog[13]++; |
185 | } |
185 | } |
186 | else // bad checksum byte |
186 | else // bad checksum byte |
187 | { |
187 | { |
188 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
188 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
189 | } |
189 | } |
190 | SPI_State = SPI_SYNC1; // reset state |
190 | SPI_State = SPI_SYNC1; // reset state |
191 | } |
191 | } |
192 | else // end of packet not reached |
192 | else // end of packet not reached |
193 | { |
193 | { |
194 | rxchksum += rxdata; // update checksum |
194 | rxchksum += rxdata; // update checksum |
195 | } |
195 | } |
196 | break; |
196 | break; |
197 | default: |
197 | default: |
198 | SPI_State = SPI_SYNC1; |
198 | SPI_State = SPI_SYNC1; |
199 | break; |
199 | break; |
200 | } |
200 | } |
201 | } |
201 | } |
202 | 202 | ||
203 | IDISABLE; |
203 | IDISABLE; |
204 | } |
204 | } |
205 | 205 | ||
206 | //-------------------------------------------------------------- |
206 | //-------------------------------------------------------------- |
207 | void SPI0_Init(void) |
207 | void SPI0_Init(void) |
208 | { |
208 | { |
209 | GPIO_InitTypeDef GPIO_InitStructure; |
209 | GPIO_InitTypeDef GPIO_InitStructure; |
210 | SSP_InitTypeDef SSP_InitStructure; |
210 | SSP_InitTypeDef SSP_InitStructure; |
211 | 211 | ||
212 | UART1_PutString("\r\n SPI init..."); |
212 | UART1_PutString("\r\n SPI init..."); |
213 | 213 | ||
214 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
214 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
215 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
215 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
216 | 216 | ||
217 | GPIO_DeInit(GPIO2); |
217 | GPIO_DeInit(GPIO2); |
218 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
218 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
219 | GPIO_StructInit(&GPIO_InitStructure); |
219 | GPIO_StructInit(&GPIO_InitStructure); |
220 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
220 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
221 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
221 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
222 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
222 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
223 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
223 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
224 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
224 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
225 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
225 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
226 | 226 | ||
227 | // SSP0_MISO pin GPIO2.6 |
227 | // SSP0_MISO pin GPIO2.6 |
228 | GPIO_StructInit(&GPIO_InitStructure); |
228 | GPIO_StructInit(&GPIO_InitStructure); |
229 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
229 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
230 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
230 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
231 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
231 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
232 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
232 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
233 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
233 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
234 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
234 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
235 | 235 | ||
236 | SSP_DeInit(SSP0); |
236 | SSP_DeInit(SSP0); |
237 | SSP_StructInit(&SSP_InitStructure); |
237 | SSP_StructInit(&SSP_InitStructure); |
238 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
238 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
239 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
239 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
240 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
240 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
241 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
241 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
242 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
242 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
243 | SSP_InitStructure.SSP_ClockRate = 0; |
243 | SSP_InitStructure.SSP_ClockRate = 0; |
244 | 244 | ||
245 | SSP_Init(SSP0, &SSP_InitStructure); |
245 | SSP_Init(SSP0, &SSP_InitStructure); |
246 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
246 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
247 | 247 | ||
248 | SSP_Cmd(SSP0, ENABLE); |
248 | SSP_Cmd(SSP0, ENABLE); |
249 | // initialize the syncbytes in the tx buffer |
249 | // initialize the syncbytes in the tx buffer |
250 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
250 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
251 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
251 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
252 | // set the pointer to the checksum byte in the tx buffer |
252 | // set the pointer to the checksum byte in the tx buffer |
253 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
253 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
254 | 254 | ||
255 | ToFlightCtrl.GPSStick.Nick = 0; |
255 | ToFlightCtrl.GPSStick.Nick = 0; |
256 | ToFlightCtrl.GPSStick.Roll = 0; |
256 | ToFlightCtrl.GPSStick.Roll = 0; |
257 | ToFlightCtrl.GPSStick.Yaw = 0; |
257 | ToFlightCtrl.GPSStick.Yaw = 0; |
258 | 258 | ||
259 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
259 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
260 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
260 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
261 | 261 | ||
262 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
262 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
263 | 263 | ||
264 | UART1_PutString("ok"); |
264 | UART1_PutString("ok"); |
265 | } |
265 | } |
266 | 266 | ||
267 | 267 | ||
268 | //------------------------------------------------------ |
268 | //------------------------------------------------------ |
269 | void SPI0_UpdateBuffer(void) |
269 | void SPI0_UpdateBuffer(void) |
270 | { |
270 | { |
271 | static u32 timeout = 0; |
271 | static u32 timeout = 0; |
272 | static u8 counter = 50; |
272 | static u8 counter = 50; |
273 | static u8 CompassCalState = 0; |
273 | static u8 CompassCalState = 0; |
274 | static u8 FCCalibActive = 0; |
274 | static u8 FCCalibActive = 0; |
275 | 275 | ||
276 | if (SPI_RxBuffer_Request) |
276 | if (SPI_RxBuffer_Request) |
277 | { |
277 | { |
278 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
278 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
279 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
279 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
280 | ToFlightCtrl.CompassHeading = Compass_Heading; |
280 | ToFlightCtrl.CompassHeading = Compass_Heading; |
281 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
281 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
282 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
282 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
- | 283 | ToFlightCtrl.MagVecX = MagVector.X; |
|
- | 284 | ToFlightCtrl.MagVecY = MagVector.Y; |
|
- | 285 | ToFlightCtrl.MagVecZ = MagVector.Z; |
|
- | 286 | ToFlightCtrl.NCStatus = 0; |
|
283 | // cycle spi commands |
287 | // cycle spi commands |
284 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
288 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
285 | // restart command cycle at the end |
289 | // restart command cycle at the end |
286 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
290 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
287 | 291 | ||
288 | switch (ToFlightCtrl.Command) |
292 | switch (ToFlightCtrl.Command) |
289 | { |
293 | { |
290 | case SPI_NCCMD_KALMAN: |
294 | case SPI_NCCMD_KALMAN: |
291 | CalcHeadFree(); |
295 | CalcHeadFree(); |
292 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
296 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
293 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
297 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
294 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
298 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
295 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
299 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
296 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
300 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
297 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
301 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
298 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
302 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
299 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
303 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
300 | { |
304 | { |
301 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
305 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
302 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
306 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
303 | } |
307 | } |
304 | else |
308 | else |
305 | { |
309 | { |
306 | ToFlightCtrl.Param.sInt[4] = -1; |
310 | ToFlightCtrl.Param.sInt[4] = -1; |
307 | } |
311 | } |
308 | ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; |
312 | ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; |
309 | break; |
313 | break; |
310 | 314 | ||
311 | case SPI_NCCMD_VERSION: |
315 | case SPI_NCCMD_VERSION: |
312 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
316 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
313 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
317 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
314 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
318 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
315 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
319 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
316 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
320 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
317 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
321 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
318 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
322 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
319 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
323 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
320 | break; |
324 | break; |
321 | 325 | ||
322 | case SPI_NCCMD_GPSINFO: |
326 | case SPI_NCCMD_GPSINFO: |
323 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
327 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
324 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
328 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
325 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
329 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
326 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
330 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
327 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
331 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
328 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
332 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
329 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
333 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
330 | break; |
334 | break; |
331 | default: |
335 | default: |
332 | break; |
336 | break; |
333 | } |
337 | } |
334 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
338 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
335 | 339 | ||
336 | 340 | ||
337 | switch(FromFlightCtrl.Command) |
341 | switch(FromFlightCtrl.Command) |
338 | { |
342 | { |
339 | case SPI_FCCMD_USER: |
343 | case SPI_FCCMD_USER: |
340 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
344 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
341 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
345 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
342 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
346 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
343 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
347 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
344 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
348 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
345 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
349 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
346 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
350 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
347 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
351 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
348 | if(ClearFCStatusFlags) |
352 | if(ClearFCStatusFlags) |
349 | { |
353 | { |
350 | FC.StatusFlags = 0; |
354 | FC.StatusFlags = 0; |
351 | ClearFCStatusFlags = 0; |
355 | ClearFCStatusFlags = 0; |
352 | } |
356 | } |
353 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
357 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
354 | if(FC.StatusFlags&FC_STATUS_CALIBRATE && !FCCalibActive) |
358 | if(FC.StatusFlags&FC_STATUS_CALIBRATE && !FCCalibActive) |
355 | { |
359 | { |
356 | Compass_Init(); |
360 | Compass_Init(); |
357 | FCCalibActive = 1; |
361 | FCCalibActive = 1; |
358 | } |
362 | } |
359 | else |
363 | else |
360 | { |
364 | { |
361 | FCCalibActive = 0; |
365 | FCCalibActive = 0; |
362 | } |
366 | } |
363 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
367 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
364 | DebugOut.Analog[5] = FC.StatusFlags; |
368 | DebugOut.Analog[5] = FC.StatusFlags; |
365 | NaviData.FCStatusFlags = FC.StatusFlags; |
369 | NaviData.FCStatusFlags = FC.StatusFlags; |
366 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
370 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
367 | break; |
371 | break; |
368 | 372 | ||
369 | case SPI_FCCMD_ACCU: |
373 | case SPI_FCCMD_ACCU: |
370 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
374 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
371 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
375 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
372 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
376 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
373 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
377 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
374 | NaviData.UBat = FC.BAT_Voltage; |
378 | NaviData.UBat = FC.BAT_Voltage; |
375 | NaviData.Current = FC.BAT_Current; |
379 | NaviData.Current = FC.BAT_Current; |
376 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
380 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
377 | break; |
381 | break; |
378 | 382 | ||
379 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
383 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
380 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
384 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
381 | 385 | ||
382 | case SPI_FCCMD_PARAMETER1: |
386 | case SPI_FCCMD_PARAMETER1: |
383 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
387 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
384 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
388 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
385 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
389 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
386 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
390 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
387 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
391 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
388 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
392 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
389 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
393 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
390 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
394 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
391 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
395 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
392 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
396 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
393 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
397 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
394 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
398 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
395 | break; |
399 | break; |
396 | 400 | ||
397 | case SPI_FCCMD_STICK: |
401 | case SPI_FCCMD_STICK: |
398 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
402 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
399 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
403 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
400 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
404 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
401 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
405 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
402 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
406 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
403 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
407 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
404 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
408 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
405 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
409 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
406 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
410 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
407 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
411 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
408 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
412 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
409 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
413 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
410 | break; |
414 | break; |
411 | 415 | ||
412 | case SPI_FCCMD_MISC: |
416 | case SPI_FCCMD_MISC: |
413 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
417 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
414 | { // put only new CompassCalState into queue to send via I2C |
418 | { // put only new CompassCalState into queue to send via I2C |
415 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
419 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
416 | Compass_SetCalState(CompassCalState); |
420 | Compass_SetCalState(CompassCalState); |
417 | } |
421 | } |
418 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
422 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
419 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
423 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
420 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // is located at byte 2 and 3 |
424 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // is located at byte 2 and 3 |
421 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // is located at byte 4 and 5 |
425 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // is located at byte 4 and 5 |
422 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
426 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
423 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
427 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
424 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
428 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
425 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
429 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
426 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
430 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
427 | NaviData.RC_Quality = FC.RC_Quality; |
431 | NaviData.RC_Quality = FC.RC_Quality; |
428 | NaviData.RC_RSSI = FC.RC_RSSI; |
432 | NaviData.RC_RSSI = FC.RC_RSSI; |
429 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
433 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
430 | break; |
434 | break; |
431 | 435 | ||
432 | case SPI_FCCMD_SERVOS: |
436 | case SPI_FCCMD_SERVOS: |
433 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
437 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
434 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
438 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
435 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
439 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
436 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
440 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
437 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
441 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
438 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
442 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
439 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
443 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
440 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
444 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
441 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
445 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
442 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
446 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
443 | break; |
447 | break; |
444 | 448 | ||
445 | case SPI_FCCMD_VERSION: |
449 | case SPI_FCCMD_VERSION: |
446 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
450 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
447 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
451 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
448 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
452 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
449 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
453 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
450 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
454 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
451 | FC.Error[0] = FromFlightCtrl.Param.Byte[5]; |
455 | FC.Error[0] = FromFlightCtrl.Param.Byte[5]; |
452 | FC.Error[1] = FromFlightCtrl.Param.Byte[6]; |
456 | FC.Error[1] = FromFlightCtrl.Param.Byte[6]; |
453 | FC.Error[2] = FromFlightCtrl.Param.Byte[7]; |
457 | FC.Error[2] = FromFlightCtrl.Param.Byte[7]; |
454 | FC.Error[3] = FromFlightCtrl.Param.Byte[8]; |
458 | FC.Error[3] = FromFlightCtrl.Param.Byte[8]; |
455 | FC.Error[4] = FromFlightCtrl.Param.Byte[9]; |
459 | FC.Error[4] = FromFlightCtrl.Param.Byte[9]; |
456 | DebugOut.Status[0] |= 0x01; // status of FC Present |
460 | DebugOut.Status[0] |= 0x01; // status of FC Present |
457 | DebugOut.Status[0] |= 0x02; // status of BL Present |
461 | DebugOut.Status[0] |= 0x02; // status of BL Present |
458 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
462 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
459 | else DebugOut.Status[1] &= ~0x01; |
463 | else DebugOut.Status[1] &= ~0x01; |
460 | break; |
464 | break; |
461 | default: |
465 | default: |
462 | break; |
466 | break; |
463 | } |
467 | } |
464 | 468 | ||
465 | // every time we got new data from the FC via SPI call the navigation routine |
469 | // every time we got new data from the FC via SPI call the navigation routine |
466 | // and update GPSStick that are returned to FC |
470 | // and update GPSStick that are returned to FC |
467 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
471 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
468 | ClearFCStatusFlags = 1; |
472 | ClearFCStatusFlags = 1; |
469 | 473 | ||
470 | if(counter) |
474 | if(counter) |
471 | { |
475 | { |
472 | counter--; // count down to enable servo |
476 | counter--; // count down to enable servo |
473 | if(!counter) TIMER2_Init(); // enable Servo Output |
477 | if(!counter) TIMER2_Init(); // enable Servo Output |
474 | } |
478 | } |
475 | 479 | ||
476 | SPI_RxBuffer_Request = 0; |
480 | SPI_RxBuffer_Request = 0; |
477 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
481 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
478 | 482 | ||
479 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
483 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
480 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
484 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
481 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
485 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
482 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
486 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
483 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
487 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
484 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
488 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
485 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
489 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
486 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
490 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
487 | } // EOF if(SPI_RxBuffer_Request) |
491 | } // EOF if(SPI_RxBuffer_Request) |
488 | else // no new SPI data |
492 | else // no new SPI data |
489 | { |
493 | { |
490 | if(CheckDelay(timeout) && (counter == 0)) |
494 | if(CheckDelay(timeout) && (counter == 0)) |
491 | { |
495 | { |
492 | TIMER2_Deinit(); // disable Servo Output |
496 | TIMER2_Deinit(); // disable Servo Output |
493 | counter = 50; // reset counter for enabling Servo Output |
497 | counter = 50; // reset counter for enabling Servo Output |
494 | } |
498 | } |
495 | } |
499 | } |
496 | } |
500 | } |
497 | 501 | ||
498 | //------------------------------------------------------ |
502 | //------------------------------------------------------ |
499 | void SPI0_GetFlightCtrlVersion(void) |
503 | void SPI0_GetFlightCtrlVersion(void) |
500 | { |
504 | { |
501 | u32 timeout; |
505 | u32 timeout; |
502 | u8 repeat; |
506 | u8 repeat; |
503 | u8 msg[64]; |
507 | u8 msg[64]; |
504 | 508 | ||
505 | UART1_PutString("\r\n Looking for FlightContol"); |
509 | UART1_PutString("\r\n Looking for FlightContol"); |
506 | FC_Version.Major = 0xFF; |
510 | FC_Version.Major = 0xFF; |
507 | FC_Version.Minor = 0xFF; |
511 | FC_Version.Minor = 0xFF; |
508 | FC_Version.Patch = 0xFF; |
512 | FC_Version.Patch = 0xFF; |
509 | FC_Version.Compatible = 0xFF; |
513 | FC_Version.Compatible = 0xFF; |
510 | 514 | ||
511 | // polling FC version info |
515 | // polling FC version info |
512 | repeat = 0; |
516 | repeat = 0; |
513 | do |
517 | do |
514 | { |
518 | { |
515 | timeout = SetDelay(250); |
519 | timeout = SetDelay(250); |
516 | do |
520 | do |
517 | { |
521 | { |
518 | SPI0_UpdateBuffer(); |
522 | SPI0_UpdateBuffer(); |
519 | if (FC_Version.Major != 0xFF) break; |
523 | if (FC_Version.Major != 0xFF) break; |
520 | }while (!CheckDelay(timeout)); |
524 | }while (!CheckDelay(timeout)); |
521 | UART1_PutString("."); |
525 | UART1_PutString("."); |
522 | repeat++; |
526 | repeat++; |
523 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
527 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
524 | // if we got it |
528 | // if we got it |
525 | if (FC_Version.Major != 0xFF) |
529 | if (FC_Version.Major != 0xFF) |
526 | { |
530 | { |
527 | 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); |
531 | 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); |
528 | UART1_PutString(msg); |
532 | UART1_PutString(msg); |
529 | } |
533 | } |
530 | else UART1_PutString("\n\r not found!"); |
534 | else UART1_PutString("\n\r not found!"); |
531 | } |
535 | } |
532 | 536 | ||
533 | 537 | ||
534 | 538 |