Rev 146 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 146 | Rev 148 | ||
---|---|---|---|
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 |
6 | // + Nur für den privaten Gebrauch |
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 der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die PORTIERUNG 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 this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
43 | // + * PORTING this software (or part of it) to systems (other than 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 "i2c.h" |
64 | #include "i2c.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 "fifo.h" |
69 | #include "fifo.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 | typedef enum |
77 | typedef enum |
78 | { |
78 | { |
79 | SPI_SYNC1, |
79 | SPI_SYNC1, |
80 | SPI_SYNC2, |
80 | SPI_SYNC2, |
81 | SPI_DATA |
81 | SPI_DATA |
82 | } SPI_State_t; |
82 | } SPI_State_t; |
83 | 83 | ||
84 | //communication packets |
84 | //communication packets |
85 | volatile FromFlightCtrl_t FromFlightCtrl; |
85 | volatile FromFlightCtrl_t FromFlightCtrl; |
86 | volatile ToFlightCtrl_t ToFlightCtrl; |
86 | volatile ToFlightCtrl_t ToFlightCtrl; |
87 | #define SPI0_TIMEOUT 500 // 500 ms |
87 | #define SPI0_TIMEOUT 500 // 500 ms |
88 | volatile u32 SPI0_Timeout = 0; |
88 | volatile u32 SPI0_Timeout = 0; |
89 | 89 | ||
90 | // tx packet buffer |
90 | // tx packet buffer |
91 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
91 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
92 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
92 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
93 | volatile u8 SPI_TxBufferIndex = 0; |
93 | volatile u8 SPI_TxBufferIndex = 0; |
94 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
94 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
95 | 95 | ||
96 | // rx packet buffer |
96 | // rx packet buffer |
97 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
97 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
98 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
98 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
99 | volatile u8 SPI_RxBufferIndex = 0; |
99 | volatile u8 SPI_RxBufferIndex = 0; |
100 | volatile u8 SPI_RxBuffer_Request = 0; |
100 | volatile u8 SPI_RxBuffer_Request = 0; |
101 | #define SPI_COMMAND_INDEX 0 |
101 | #define SPI_COMMAND_INDEX 0 |
102 | 102 | ||
103 | s32 FC_Kalman_K = 32; |
103 | s32 FC_Kalman_K = 32; |
104 | s32 Kalman_MaxDrift = 5 * 16; |
104 | s32 Kalman_MaxDrift = 5 * 16; |
105 | s32 Kalman_MaxFusion = 64; |
105 | s32 Kalman_MaxFusion = 64; |
- | 106 | s32 ToFcGpsZ = 0; |
|
106 | 107 | ||
107 | u8 SPI_CommandSequence[] = { SPI_KALMAN }; |
108 | u8 SPI_CommandSequence[] = { SPI_KALMAN }; |
108 | u8 SPI_CommandCounter = 0; |
109 | u8 SPI_CommandCounter = 0; |
109 | 110 | ||
110 | SPI_Version_t FC_Version; |
111 | SPI_Version_t FC_Version; |
111 | 112 | ||
112 | u8 CompassCalStateQueue[10]; |
113 | u8 CompassCalStateQueue[10]; |
113 | fifo_t CompassCalcStateFiFo; |
114 | fifo_t CompassCalcStateFiFo; |
114 | 115 | ||
115 | u8 CompassCalState = 0; |
116 | u8 CompassCalState = 0; |
116 | 117 | ||
117 | //-------------------------------------------------------------- |
118 | //-------------------------------------------------------------- |
118 | void SSP0_IRQHandler(void) |
119 | void SSP0_IRQHandler(void) |
119 | { |
120 | { |
120 | static u8 rxchksum = 0; |
121 | static u8 rxchksum = 0; |
121 | u8 rxdata; |
122 | u8 rxdata; |
122 | static SPI_State_t SPI_State = SPI_SYNC1; |
123 | static SPI_State_t SPI_State = SPI_SYNC1; |
123 | 124 | ||
124 | // clear pending bits |
125 | // clear pending bits |
125 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
126 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
126 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
127 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
127 | /* |
128 | /* |
128 | // Fill TxFIFO while its not full or end of packet is reached |
129 | // Fill TxFIFO while its not full or end of packet is reached |
129 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
130 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
130 | { |
131 | { |
131 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
132 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
132 | { |
133 | { |
133 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
134 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
134 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
135 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
135 | SPI_TxBufferIndex++; // pointer to next byte |
136 | SPI_TxBufferIndex++; // pointer to next byte |
136 | } |
137 | } |
137 | else // TxBuffer end is reached then reset and copy data to tx buffer |
138 | else // TxBuffer end is reached then reset and copy data to tx buffer |
138 | { |
139 | { |
139 | SPI_TxBufferIndex = 0; // reset buffer index |
140 | SPI_TxBufferIndex = 0; // reset buffer index |
140 | ToFlightCtrl.Chksum = 0; // initialize checksum |
141 | ToFlightCtrl.Chksum = 0; // initialize checksum |
141 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
142 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
142 | BeepTime = 0; // reset local beeptime |
143 | BeepTime = 0; // reset local beeptime |
143 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
144 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
144 | memcpy( (u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
145 | memcpy( (u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
145 | } |
146 | } |
146 | } |
147 | } |
147 | */ |
148 | */ |
148 | // while RxFIFO not empty |
149 | // while RxFIFO not empty |
149 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
150 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
150 | { |
151 | { |
151 | rxdata = SSP0->DR; // catch the received byte |
152 | rxdata = SSP0->DR; // catch the received byte |
152 | // Fill TxFIFO while its not full or end of packet is reached |
153 | // Fill TxFIFO while its not full or end of packet is reached |
153 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
154 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
154 | { |
155 | { |
155 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
156 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
156 | { |
157 | { |
157 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
158 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
158 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
159 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
159 | SPI_TxBufferIndex++; // pointer to next byte |
160 | SPI_TxBufferIndex++; // pointer to next byte |
160 | } |
161 | } |
161 | else // end of packet is reached reset and copy data to tx buffer |
162 | else // end of packet is reached reset and copy data to tx buffer |
162 | { |
163 | { |
163 | SPI_TxBufferIndex = 0; // reset buffer index |
164 | SPI_TxBufferIndex = 0; // reset buffer index |
164 | ToFlightCtrl.Chksum = 0; // initialize checksum |
165 | ToFlightCtrl.Chksum = 0; // initialize checksum |
165 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
166 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
166 | BeepTime = 0; // reset local beeptime |
167 | BeepTime = 0; // reset local beeptime |
167 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
168 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
168 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
169 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
169 | } |
170 | } |
170 | } |
171 | } |
171 | switch (SPI_State) |
172 | switch (SPI_State) |
172 | { |
173 | { |
173 | case SPI_SYNC1: |
174 | case SPI_SYNC1: |
174 | SPI_RxBufferIndex = 0; // reset buffer index |
175 | SPI_RxBufferIndex = 0; // reset buffer index |
175 | rxchksum = rxdata; // init checksum |
176 | rxchksum = rxdata; // init checksum |
176 | if (rxdata == SPI_RXSYNCBYTE1) |
177 | if (rxdata == SPI_RXSYNCBYTE1) |
177 | { // 1st syncbyte ok |
178 | { // 1st syncbyte ok |
178 | SPI_State = SPI_SYNC2; // step to sync2 |
179 | SPI_State = SPI_SYNC2; // step to sync2 |
179 | } |
180 | } |
180 | break; |
181 | break; |
181 | case SPI_SYNC2: |
182 | case SPI_SYNC2: |
182 | if (rxdata == SPI_RXSYNCBYTE2) |
183 | if (rxdata == SPI_RXSYNCBYTE2) |
183 | { // 2nd Syncbyte ok |
184 | { // 2nd Syncbyte ok |
184 | rxchksum += rxdata; |
185 | rxchksum += rxdata; |
185 | SPI_State = SPI_DATA; |
186 | SPI_State = SPI_DATA; |
186 | } // 2nd Syncbyte does not match |
187 | } // 2nd Syncbyte does not match |
187 | else |
188 | else |
188 | { |
189 | { |
189 | SPI_State = SPI_SYNC1; //jump back to sync1 |
190 | SPI_State = SPI_SYNC1; //jump back to sync1 |
190 | } |
191 | } |
191 | break; |
192 | break; |
192 | case SPI_DATA: |
193 | case SPI_DATA: |
193 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
194 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
194 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
195 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
195 | { |
196 | { |
196 | if (rxdata == rxchksum) // verify checksum byte |
197 | if (rxdata == rxchksum) // verify checksum byte |
197 | { |
198 | { |
198 | // copy SPI_RxBuffer -> FromFlightCtrl |
199 | // copy SPI_RxBuffer -> FromFlightCtrl |
199 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
200 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
200 | { |
201 | { |
201 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
202 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
202 | SPI_RxBuffer_Request = 1; |
203 | SPI_RxBuffer_Request = 1; |
203 | } |
204 | } |
204 | // reset timeout counter on good packet |
205 | // reset timeout counter on good packet |
205 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
206 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
206 | DebugOut.Analog[13]++; |
207 | DebugOut.Analog[13]++; |
207 | } |
208 | } |
208 | else // bad checksum byte |
209 | else // bad checksum byte |
209 | { |
210 | { |
210 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
211 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
211 | } |
212 | } |
212 | SPI_State = SPI_SYNC1; // reset state |
213 | SPI_State = SPI_SYNC1; // reset state |
213 | } |
214 | } |
214 | else // end of packet not reached |
215 | else // end of packet not reached |
215 | { |
216 | { |
216 | rxchksum += rxdata; // update checksum |
217 | rxchksum += rxdata; // update checksum |
217 | } |
218 | } |
218 | break; |
219 | break; |
219 | default: |
220 | default: |
220 | SPI_State = SPI_SYNC1; |
221 | SPI_State = SPI_SYNC1; |
221 | break; |
222 | break; |
222 | } |
223 | } |
223 | } |
224 | } |
224 | } |
225 | } |
225 | 226 | ||
226 | //-------------------------------------------------------------- |
227 | //-------------------------------------------------------------- |
227 | void SPI0_Init(void) |
228 | void SPI0_Init(void) |
228 | { |
229 | { |
229 | GPIO_InitTypeDef GPIO_InitStructure; |
230 | GPIO_InitTypeDef GPIO_InitStructure; |
230 | SSP_InitTypeDef SSP_InitStructure; |
231 | SSP_InitTypeDef SSP_InitStructure; |
231 | 232 | ||
232 | UART1_PutString("\r\n SPI init..."); |
233 | UART1_PutString("\r\n SPI init..."); |
233 | 234 | ||
234 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
235 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
235 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
236 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
236 | 237 | ||
237 | GPIO_DeInit(GPIO2); |
238 | GPIO_DeInit(GPIO2); |
238 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
239 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
239 | GPIO_StructInit(&GPIO_InitStructure); |
240 | GPIO_StructInit(&GPIO_InitStructure); |
240 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
241 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
241 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
242 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
242 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
243 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
243 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
244 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
244 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
245 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
245 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
246 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
246 | 247 | ||
247 | // SSP0_MISO pin GPIO2.6 |
248 | // SSP0_MISO pin GPIO2.6 |
248 | GPIO_StructInit(&GPIO_InitStructure); |
249 | GPIO_StructInit(&GPIO_InitStructure); |
249 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
250 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
250 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
251 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
251 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
252 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
252 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
253 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
253 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
254 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
254 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
255 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
255 | 256 | ||
256 | SSP_DeInit(SSP0); |
257 | SSP_DeInit(SSP0); |
257 | SSP_StructInit(&SSP_InitStructure); |
258 | SSP_StructInit(&SSP_InitStructure); |
258 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
259 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
259 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
260 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
260 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
261 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
261 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
262 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
262 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
263 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
263 | SSP_InitStructure.SSP_ClockRate = 0; |
264 | SSP_InitStructure.SSP_ClockRate = 0; |
264 | 265 | ||
265 | SSP_Init(SSP0, &SSP_InitStructure); |
266 | SSP_Init(SSP0, &SSP_InitStructure); |
266 | 267 | ||
267 | //SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
268 | //SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
268 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
269 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
269 | 270 | ||
270 | 271 | ||
271 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue)); |
272 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue)); |
272 | 273 | ||
273 | SSP_Cmd(SSP0, ENABLE); |
274 | SSP_Cmd(SSP0, ENABLE); |
274 | // initialize the syncbytes in the tx buffer |
275 | // initialize the syncbytes in the tx buffer |
275 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
276 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
276 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
277 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
277 | // set the pointer to the checksum byte in the tx buffer |
278 | // set the pointer to the checksum byte in the tx buffer |
278 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
279 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
279 | 280 | ||
280 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
281 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
281 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
282 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
282 | 283 | ||
283 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
284 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
284 | 285 | ||
285 | UART1_PutString("ok"); |
286 | UART1_PutString("ok"); |
286 | } |
287 | } |
287 | 288 | ||
288 | //------------------------------------------------------ |
289 | //------------------------------------------------------ |
289 | void SPI0_UpdateBuffer(void) |
290 | void SPI0_UpdateBuffer(void) |
290 | { |
291 | { |
291 | if (SPI_RxBuffer_Request) |
292 | if (SPI_RxBuffer_Request) |
292 | { |
293 | { |
293 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
294 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
294 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
295 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
295 | 296 | ||
296 | ToFlightCtrl.CompassHeading = I2C_Heading.Heading; |
297 | ToFlightCtrl.CompassHeading = I2C_Heading.Heading; |
297 | ToFlightCtrl.GPS_Nick = GPS_Stick.Nick; |
298 | ToFlightCtrl.GPS_Nick = GPS_Stick.Nick; |
298 | ToFlightCtrl.GPS_Roll = GPS_Stick.Roll; |
299 | ToFlightCtrl.GPS_Roll = GPS_Stick.Roll; |
299 | ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw; |
300 | ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw; |
300 | // cycle spi commands |
301 | // cycle spi commands |
301 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
302 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
302 | // restart command cycle at the end |
303 | // restart command cycle at the end |
303 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
304 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
304 | 305 | ||
305 | switch (ToFlightCtrl.Command) |
306 | switch (ToFlightCtrl.Command) |
306 | { |
307 | { |
307 | case SPI_KALMAN: |
308 | case SPI_KALMAN: |
308 | ToFlightCtrl.Param.sByte[0] = (s8) FC_Kalman_K; |
309 | ToFlightCtrl.Param.sByte[0] = (s8) FC_Kalman_K; |
309 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
310 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
310 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
311 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
311 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
312 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
- | 313 | ToFlightCtrl.Param.Byte[4] = (s8) ToFcGpsZ; |
|
312 | break; |
314 | break; |
313 | 315 | ||
314 | default: |
316 | default: |
315 | break; |
317 | break; |
316 | } |
318 | } |
317 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
319 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
318 | 320 | ||
319 | 321 | ||
320 | switch(FromFlightCtrl.Command) |
322 | switch(FromFlightCtrl.Command) |
321 | { |
323 | { |
322 | case SPI_CMD_USER: |
324 | case SPI_CMD_USER: |
323 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
325 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
324 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
326 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
325 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
327 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
326 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
328 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
327 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
329 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
328 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
330 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
329 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
331 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
330 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
332 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
331 | if(ClearMKFlags) |
333 | if(ClearMKFlags) |
332 | { |
334 | { |
333 | FC.MKFlags = 0; |
335 | FC.MKFlags = 0; |
334 | ClearMKFlags = 0; |
336 | ClearMKFlags = 0; |
335 | } |
337 | } |
336 | FC.MKFlags |= FromFlightCtrl.Param.Byte[8]; |
338 | FC.MKFlags |= FromFlightCtrl.Param.Byte[8]; |
337 | FC.UBat = FromFlightCtrl.Param.Byte[9]; |
339 | FC.UBat = FromFlightCtrl.Param.Byte[9]; |
338 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10]; |
340 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10]; |
339 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
341 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
340 | DebugOut.Analog[5] = FC.MKFlags; |
342 | DebugOut.Analog[5] = FC.MKFlags; |
341 | break; |
343 | break; |
342 | 344 | ||
343 | #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = FC.Poti1; else if(a == 252) b = FC.Poti2; else if(a == 253) b = FC.Poti3; else if(a == 254) b = FC.Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
345 | #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = FC.Poti1; else if(a == 252) b = FC.Poti2; else if(a == 253) b = FC.Poti3; else if(a == 254) b = FC.Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
344 | case SPI_CMD_PARAMETER1: |
346 | case SPI_CMD_PARAMETER1: |
345 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
347 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
346 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
348 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
347 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
349 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
348 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
350 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
349 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
351 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
350 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
352 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
351 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
353 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
352 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
354 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
353 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
355 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
354 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
356 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
355 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
357 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
356 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
358 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
357 | break; |
359 | break; |
358 | 360 | ||
359 | case SPI_CMD_STICK: |
361 | case SPI_CMD_STICK: |
360 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
362 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
361 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
363 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
362 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
364 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
363 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
365 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
364 | FC.Poti1 = FromFlightCtrl.Param.Byte[4]; |
366 | FC.Poti1 = FromFlightCtrl.Param.Byte[4]; |
365 | FC.Poti2 = FromFlightCtrl.Param.Byte[5]; |
367 | FC.Poti2 = FromFlightCtrl.Param.Byte[5]; |
366 | FC.Poti3 = FromFlightCtrl.Param.Byte[6]; |
368 | FC.Poti3 = FromFlightCtrl.Param.Byte[6]; |
367 | FC.Poti4 = FromFlightCtrl.Param.Byte[7]; |
369 | FC.Poti4 = FromFlightCtrl.Param.Byte[7]; |
368 | FC.RC_Quality = FromFlightCtrl.Param.Byte[8]; |
370 | FC.RC_Quality = FromFlightCtrl.Param.Byte[8]; |
369 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[9]; |
371 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[9]; |
370 | break; |
372 | break; |
371 | 373 | ||
372 | case SPI_CMD_MISC: |
374 | case SPI_CMD_MISC: |
373 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
375 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
374 | { // put only new CompassCalState into queue to send via I2C |
376 | { // put only new CompassCalState into queue to send via I2C |
375 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
377 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
376 | fifo_put(&CompassCalcStateFiFo, CompassCalState); |
378 | fifo_put(&CompassCalcStateFiFo, CompassCalState); |
377 | } |
379 | } |
378 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
380 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
379 | NaviData.Variometer = (NaviData.Variometer + 2 * ((s16) FromFlightCtrl.Param.Int[1] - NaviData.Altimeter)) / 2; // provisorisch |
381 | NaviData.Variometer = (NaviData.Variometer + 2 * ((s16) FromFlightCtrl.Param.Int[1] - NaviData.Altimeter)) / 2; // provisorisch |
380 | NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3 |
382 | NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3 |
381 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[4],0,255); |
383 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[4],0,255); |
382 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[5],0,255); |
384 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[5],0,255); |
383 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[6],0,255); |
385 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[6],0,255); |
384 | break; |
386 | break; |
385 | 387 | ||
386 | case SPI_CMD_SERVOS: |
388 | case SPI_CMD_SERVOS: |
387 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
389 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
388 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
390 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
389 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
391 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
390 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
392 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
391 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
393 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
392 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
394 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
393 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
395 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
394 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
396 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
395 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
397 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
396 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
398 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
397 | break; |
399 | break; |
398 | 400 | ||
399 | case SPI_CMD_VERSION: |
401 | case SPI_CMD_VERSION: |
400 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
402 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
401 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
403 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
402 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
404 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
403 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
405 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
404 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
406 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
405 | break; |
407 | break; |
406 | 408 | ||
407 | default: |
409 | default: |
408 | break; |
410 | break; |
409 | } |
411 | } |
410 | 412 | ||
411 | // every time we got new data from the FC via SPI call the navigation routine |
413 | // every time we got new data from the FC via SPI call the navigation routine |
412 | GPS_Navigation(); |
414 | GPS_Navigation(); |
413 | ClearMKFlags = 1; |
415 | ClearMKFlags = 1; |
414 | 416 | ||
415 | SPI_RxBuffer_Request = 0; |
417 | SPI_RxBuffer_Request = 0; |
416 | 418 | ||
417 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
419 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
418 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
420 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
419 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
421 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
420 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
422 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
421 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
423 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
422 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
424 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
423 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
425 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
424 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
426 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
425 | } // EOF if(SPI_RxBuffer_Request) |
427 | } // EOF if(SPI_RxBuffer_Request) |
426 | } |
428 | } |
427 | 429 | ||
428 | //------------------------------------------------------ |
430 | //------------------------------------------------------ |
429 | void SPI0_GetFlightCtrlVersion(void) |
431 | void SPI0_GetFlightCtrlVersion(void) |
430 | { |
432 | { |
431 | u16 timeout; |
433 | u16 timeout; |
432 | u8 msg[64]; |
434 | u8 msg[64]; |
433 | 435 | ||
434 | FC_Version.Major = 0xFF; |
436 | FC_Version.Major = 0xFF; |
435 | FC_Version.Minor = 0xFF; |
437 | FC_Version.Minor = 0xFF; |
436 | FC_Version.Patch = 0xFF; |
438 | FC_Version.Patch = 0xFF; |
437 | FC_Version.Compatible = 0xFF; |
439 | FC_Version.Compatible = 0xFF; |
438 | 440 | ||
439 | // polling FC version info for 2 second |
441 | // polling FC version info for 2 second |
440 | timeout = SetDelay(2000); |
442 | timeout = SetDelay(2000); |
441 | do |
443 | do |
442 | { |
444 | { |
443 | SPI0_UpdateBuffer(); |
445 | SPI0_UpdateBuffer(); |
444 | if (FC_Version.Major != 0xFF) break; |
446 | if (FC_Version.Major != 0xFF) break; |
445 | }while (!CheckDelay(timeout)); |
447 | }while (!CheckDelay(timeout)); |
446 | // if we got it |
448 | // if we got it |
447 | if (FC_Version.Major != 0xFF) |
449 | if (FC_Version.Major != 0xFF) |
448 | { |
450 | { |
449 | sprintf(msg, "\n\r FlightCtrl 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); |
451 | sprintf(msg, "\n\r FlightCtrl 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); |
450 | UART1_PutString(msg); |
452 | UART1_PutString(msg); |
451 | sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
453 | sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
452 | UART1_PutString(msg); |
454 | UART1_PutString(msg); |
453 | } |
455 | } |
454 | else UART1_PutString("\n\r No version information from FlightCtrl."); |
456 | else UART1_PutString("\n\r No version information from FlightCtrl."); |
455 | } |
457 | } |
456 | 458 | ||
457 | 459 | ||
458 | 460 |