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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 |
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 "main.h" |
67 | #include "main.h" |
68 | #include "fifo.h" |
68 | #include "fifo.h" |
69 | 69 | ||
70 | 70 | ||
71 | #define SPI_RXSYNCBYTE1 0xAA |
71 | #define SPI_RXSYNCBYTE1 0xAA |
72 | #define SPI_RXSYNCBYTE2 0x83 |
72 | #define SPI_RXSYNCBYTE2 0x83 |
73 | #define SPI_TXSYNCBYTE1 0x81 |
73 | #define SPI_TXSYNCBYTE1 0x81 |
74 | #define SPI_TXSYNCBYTE2 0x55 |
74 | #define SPI_TXSYNCBYTE2 0x55 |
75 | 75 | ||
76 | typedef enum |
76 | typedef enum |
77 | { |
77 | { |
78 | SPI_SYNC1, |
78 | SPI_SYNC1, |
79 | SPI_SYNC2, |
79 | SPI_SYNC2, |
80 | SPI_DATA |
80 | SPI_DATA |
81 | } SPI_State_t; |
81 | } SPI_State_t; |
82 | 82 | ||
83 | //communication packets |
83 | //communication packets |
84 | volatile FromFlightCtrl_t FromFlightCtrl; |
84 | volatile FromFlightCtrl_t FromFlightCtrl; |
85 | volatile ToFlightCtrl_t ToFlightCtrl; |
85 | volatile ToFlightCtrl_t ToFlightCtrl; |
86 | 86 | ||
87 | // tx packet buffer |
87 | // tx packet buffer |
88 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
88 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
89 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
89 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
90 | volatile u8 SPI_TxBufferIndex = 0; |
90 | volatile u8 SPI_TxBufferIndex = 0; |
91 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
91 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
92 | 92 | ||
93 | // rx packet buffer |
93 | // rx packet buffer |
94 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
94 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
95 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
95 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
96 | volatile u8 SPI_RxBufferIndex = 0; |
96 | volatile u8 SPI_RxBufferIndex = 0; |
97 | volatile u8 SPI_RxBuffer_Request = 0; |
97 | volatile u8 SPI_RxBuffer_Request = 0; |
98 | #define SPI_COMMAND_INDEX 0 |
98 | #define SPI_COMMAND_INDEX 0 |
99 | 99 | ||
100 | s32 FC_Kalman_K = 32; |
100 | s32 FC_Kalman_K = 32; |
101 | s32 Kalman_MaxDrift = 5 * 16; |
101 | s32 Kalman_MaxDrift = 5 * 16; |
102 | s32 Kalman_MaxFusion = 64; |
102 | s32 Kalman_MaxFusion = 64; |
103 | u32 CheckSPIOkay = 0; |
103 | u32 CheckSPIOkay = 0; |
104 | 104 | ||
105 | u8 SPI_CommandSequence[] = { SPI_KALMAN }; |
105 | u8 SPI_CommandSequence[] = { SPI_KALMAN }; |
106 | u8 SPI_CommandCounter = 0; |
106 | u8 SPI_CommandCounter = 0; |
107 | 107 | ||
108 | SPI_Version_t FC_Version; |
108 | SPI_Version_t FC_Version; |
109 | 109 | ||
110 | u8 CompassCalStateQueue[10]; |
110 | u8 CompassCalStateQueue[10]; |
111 | fifo_t CompassCalcStateFiFo; |
111 | fifo_t CompassCalcStateFiFo; |
112 | 112 | ||
113 | u8 CompassCalState = 0; |
113 | u8 CompassCalState = 0; |
114 | 114 | ||
115 | //-------------------------------------------------------------- |
115 | //-------------------------------------------------------------- |
116 | void SSP0_IRQHandler(void) |
116 | void SSP0_IRQHandler(void) |
117 | { |
117 | { |
118 | static u8 rxchksum = 0; |
118 | static u8 rxchksum = 0; |
119 | u8 rxdata; |
119 | u8 rxdata; |
120 | static SPI_State_t SPI_State = SPI_SYNC1; |
120 | static SPI_State_t SPI_State = SPI_SYNC1; |
121 | 121 | ||
122 | // clear pending bit |
122 | // clear pending bit |
123 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
123 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
124 | // Fill TxFIFO while its not full or end of packet is reached |
124 | // Fill TxFIFO while its not full or end of packet is reached |
125 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
125 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
126 | { |
126 | { |
127 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
127 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
128 | { |
128 | { |
129 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
129 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
130 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
130 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
131 | SPI_TxBufferIndex++; // pointer to next byte |
131 | SPI_TxBufferIndex++; // pointer to next byte |
132 | } |
132 | } |
133 | else // TxBuffer end is reached then reset and copy data to tx buffer |
133 | else // TxBuffer end is reached then reset and copy data to tx buffer |
134 | { |
134 | { |
135 | SPI_TxBufferIndex = 0; // reset buffer index |
135 | SPI_TxBufferIndex = 0; // reset buffer index |
136 | ToFlightCtrl.Chksum = 0; // initialize checksum |
136 | ToFlightCtrl.Chksum = 0; // initialize checksum |
137 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
137 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
138 | BeepTime = 0; // reset local beeptime |
138 | BeepTime = 0; // reset local beeptime |
139 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
139 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
140 | memcpy( (u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
140 | memcpy( (u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
141 | } |
141 | } |
142 | } |
142 | } |
143 | // while RxFIFO not empty |
143 | // while RxFIFO not empty |
144 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
144 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
145 | { |
145 | { |
146 | rxdata = SSP0->DR; // catch the received byte |
146 | rxdata = SSP0->DR; // catch the received byte |
147 | // Fill TxFIFO while its not full or end of packet is reached |
147 | // Fill TxFIFO while its not full or end of packet is reached |
148 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
148 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
149 | { |
149 | { |
150 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
150 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
151 | { |
151 | { |
152 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
152 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
153 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
153 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
154 | SPI_TxBufferIndex++; // pointer to next byte |
154 | SPI_TxBufferIndex++; // pointer to next byte |
155 | } |
155 | } |
156 | else // end of packet is reached reset and copy data to tx buffer |
156 | else // end of packet is reached reset and copy data to tx buffer |
157 | { |
157 | { |
158 | SPI_TxBufferIndex = 0; // reset buffer index |
158 | SPI_TxBufferIndex = 0; // reset buffer index |
159 | ToFlightCtrl.Chksum = 0; // initialize checksum |
159 | ToFlightCtrl.Chksum = 0; // initialize checksum |
160 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
160 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
161 | BeepTime = 0; // reset local beeptime |
161 | BeepTime = 0; // reset local beeptime |
162 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
162 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
163 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
163 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
164 | } |
164 | } |
165 | } |
165 | } |
166 | switch (SPI_State) |
166 | switch (SPI_State) |
167 | { |
167 | { |
168 | case SPI_SYNC1: |
168 | case SPI_SYNC1: |
169 | SPI_RxBufferIndex = 0; // reset buffer index |
169 | SPI_RxBufferIndex = 0; // reset buffer index |
170 | rxchksum = rxdata; // init checksum |
170 | rxchksum = rxdata; // init checksum |
171 | if (rxdata == SPI_RXSYNCBYTE1) |
171 | if (rxdata == SPI_RXSYNCBYTE1) |
172 | { // 1st syncbyte ok |
172 | { // 1st syncbyte ok |
173 | SPI_State = SPI_SYNC2; // step to sync2 |
173 | SPI_State = SPI_SYNC2; // step to sync2 |
174 | } |
174 | } |
175 | break; |
175 | break; |
176 | case SPI_SYNC2: |
176 | case SPI_SYNC2: |
177 | if (rxdata == SPI_RXSYNCBYTE2) |
177 | if (rxdata == SPI_RXSYNCBYTE2) |
178 | { // 2nd Syncbyte ok |
178 | { // 2nd Syncbyte ok |
179 | rxchksum += rxdata; |
179 | rxchksum += rxdata; |
180 | SPI_State = SPI_DATA; |
180 | SPI_State = SPI_DATA; |
181 | } // 2nd Syncbyte does not match |
181 | } // 2nd Syncbyte does not match |
182 | else |
182 | else |
183 | { |
183 | { |
184 | SPI_State = SPI_SYNC1; //jump back to sync1 |
184 | SPI_State = SPI_SYNC1; //jump back to sync1 |
185 | } |
185 | } |
186 | break; |
186 | break; |
187 | case SPI_DATA: |
187 | case SPI_DATA: |
188 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
188 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
189 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
189 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
190 | { |
190 | { |
191 | if (rxdata == rxchksum) // verify checksum byte |
191 | if (rxdata == rxchksum) // verify checksum byte |
192 | { |
192 | { |
193 | // copy SPI_RxBuffer -> FromFlightCtrl |
193 | // copy SPI_RxBuffer -> FromFlightCtrl |
194 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
194 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
195 | { |
195 | { |
196 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
196 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
197 | SPI_RxBuffer_Request = 1; |
197 | SPI_RxBuffer_Request = 1; |
198 | } |
198 | } |
199 | CheckSPIOkay++; |
199 | CheckSPIOkay++; |
200 | DebugOut.Analog[13]++; |
200 | DebugOut.Analog[13]++; |
201 | } |
201 | } |
202 | else // bad checksum byte |
202 | else // bad checksum byte |
203 | { |
203 | { |
204 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
204 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
205 | } |
205 | } |
206 | SPI_State = SPI_SYNC1; // reset state |
206 | SPI_State = SPI_SYNC1; // reset state |
207 | } |
207 | } |
208 | else // end of packet not reached |
208 | else // end of packet not reached |
209 | { |
209 | { |
210 | rxchksum += rxdata; // update checksum |
210 | rxchksum += rxdata; // update checksum |
211 | } |
211 | } |
212 | break; |
212 | break; |
213 | default: |
213 | default: |
214 | SPI_State = SPI_SYNC1; |
214 | SPI_State = SPI_SYNC1; |
215 | break; |
215 | break; |
216 | } |
216 | } |
217 | } |
217 | } |
218 | } |
218 | } |
219 | 219 | ||
220 | //-------------------------------------------------------------- |
220 | //-------------------------------------------------------------- |
221 | void SPI0_Init(void) |
221 | void SPI0_Init(void) |
222 | { |
222 | { |
223 | GPIO_InitTypeDef GPIO_InitStructure; |
223 | GPIO_InitTypeDef GPIO_InitStructure; |
224 | SSP_InitTypeDef SSP_InitStructure; |
224 | SSP_InitTypeDef SSP_InitStructure; |
225 | 225 | ||
226 | UART1_PutString("\r\n SPI init..."); |
226 | UART1_PutString("\r\n SPI init..."); |
227 | 227 | ||
228 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
228 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
229 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
229 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
230 | 230 | ||
231 | GPIO_DeInit(GPIO2); |
231 | GPIO_DeInit(GPIO2); |
232 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
232 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
233 | GPIO_StructInit(&GPIO_InitStructure); |
233 | GPIO_StructInit(&GPIO_InitStructure); |
234 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
234 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
235 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
235 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
236 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
236 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
237 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
237 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
238 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
238 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
239 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
239 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
240 | 240 | ||
241 | // SSP0_MISO pin GPIO2.6 |
241 | // SSP0_MISO pin GPIO2.6 |
242 | GPIO_StructInit(&GPIO_InitStructure); |
242 | GPIO_StructInit(&GPIO_InitStructure); |
243 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
243 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
244 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
244 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
245 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
245 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
246 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
246 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
247 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
247 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
248 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
248 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
249 | 249 | ||
250 | SSP_DeInit(SSP0); |
250 | SSP_DeInit(SSP0); |
251 | SSP_StructInit(&SSP_InitStructure); |
251 | SSP_StructInit(&SSP_InitStructure); |
252 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
252 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
253 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
253 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
254 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
254 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
255 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
255 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
256 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
256 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
257 | SSP_InitStructure.SSP_ClockRate = 0; |
257 | SSP_InitStructure.SSP_ClockRate = 0; |
258 | 258 | ||
259 | SSP_Init(SSP0, &SSP_InitStructure); |
259 | SSP_Init(SSP0, &SSP_InitStructure); |
260 | 260 | ||
261 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
261 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
262 | 262 | ||
263 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue)); |
263 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue)); |
264 | 264 | ||
265 | SSP_Cmd(SSP0, ENABLE); |
265 | SSP_Cmd(SSP0, ENABLE); |
266 | // initialize the syncbytes in the tx buffer |
266 | // initialize the syncbytes in the tx buffer |
267 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
267 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
268 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
268 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
269 | // set the pointer to the checksum byte in the tx buffer |
269 | // set the pointer to the checksum byte in the tx buffer |
270 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
270 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
271 | 271 | ||
272 | VIC_Config(SSP0_ITLine, VIC_IRQ, 1); |
272 | VIC_Config(SSP0_ITLine, VIC_IRQ, 1); |
273 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
273 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
274 | 274 | ||
275 | UART1_PutString("ok"); |
275 | UART1_PutString("ok"); |
276 | } |
276 | } |
277 | 277 | ||
278 | //------------------------------------------------------ |
278 | //------------------------------------------------------ |
279 | void SPI0_UpdateBuffer(void) |
279 | void SPI0_UpdateBuffer(void) |
280 | { |
280 | { |
281 | if (SPI_RxBuffer_Request) |
281 | if (SPI_RxBuffer_Request) |
282 | { |
282 | { |
283 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
283 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
284 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
284 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
285 | 285 | ||
286 | ToFlightCtrl.CompassHeading = I2C_Heading.Heading; |
286 | ToFlightCtrl.CompassHeading = I2C_Heading.Heading; |
287 | ToFlightCtrl.GPS_Nick = GPS_Stick.Nick; |
287 | ToFlightCtrl.GPS_Nick = GPS_Stick.Nick; |
288 | ToFlightCtrl.GPS_Roll = GPS_Stick.Roll; |
288 | ToFlightCtrl.GPS_Roll = GPS_Stick.Roll; |
289 | ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw; |
289 | ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw; |
290 | // cycle spi commands |
290 | // cycle spi commands |
291 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
291 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
292 | // restart command cycle at the end |
292 | // restart command cycle at the end |
293 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
293 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
294 | 294 | ||
295 | switch (ToFlightCtrl.Command) |
295 | switch (ToFlightCtrl.Command) |
296 | { |
296 | { |
297 | case SPI_KALMAN: |
297 | case SPI_KALMAN: |
298 | ToFlightCtrl.Param.sByte[0] = (s8) FC_Kalman_K; |
298 | ToFlightCtrl.Param.sByte[0] = (s8) FC_Kalman_K; |
299 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
299 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
300 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
300 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
301 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
301 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
302 | break; |
302 | break; |
303 | 303 | ||
304 | default: |
304 | default: |
305 | break; |
305 | break; |
306 | } |
306 | } |
307 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
307 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
308 | 308 | ||
309 | 309 | ||
310 | switch(FromFlightCtrl.Command) |
310 | switch(FromFlightCtrl.Command) |
311 | { |
311 | { |
312 | case SPI_CMD_USER: |
312 | case SPI_CMD_USER: |
313 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
313 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
314 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
314 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
315 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
315 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
316 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
316 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
317 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
317 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
318 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
318 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
319 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
319 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
320 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
320 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
321 | if(ClearMKFlags) |
321 | if(ClearMKFlags) |
322 | { |
322 | { |
323 | FC.MKFlags = 0; |
323 | FC.MKFlags = 0; |
324 | ClearMKFlags = 0; |
324 | ClearMKFlags = 0; |
325 | } |
325 | } |
326 | FC.MKFlags |= FromFlightCtrl.Param.Byte[8]; |
326 | FC.MKFlags |= FromFlightCtrl.Param.Byte[8]; |
327 | FC.UBat = FromFlightCtrl.Param.Byte[9]; |
327 | FC.UBat = FromFlightCtrl.Param.Byte[9]; |
328 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10]; |
328 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10]; |
329 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
329 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
330 | DebugOut.Analog[5] = FC.MKFlags; |
330 | DebugOut.Analog[5] = FC.MKFlags; |
331 | break; |
331 | break; |
332 | 332 | ||
333 | #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;} |
333 | #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;} |
334 | case SPI_CMD_PARAMETER1: |
334 | case SPI_CMD_PARAMETER1: |
335 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
335 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
336 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
336 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
337 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
337 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
338 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
338 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
339 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
339 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
340 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
340 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
341 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
341 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
342 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
342 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
343 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
343 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
344 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
344 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
345 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
345 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
346 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
346 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
347 | break; |
347 | break; |
348 | 348 | ||
349 | case SPI_CMD_STICK: |
349 | case SPI_CMD_STICK: |
350 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
350 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
351 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
351 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
352 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
352 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
353 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
353 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
354 | FC.Poti1 = FromFlightCtrl.Param.Byte[4]; |
354 | FC.Poti1 = FromFlightCtrl.Param.Byte[4]; |
355 | FC.Poti2 = FromFlightCtrl.Param.Byte[5]; |
355 | FC.Poti2 = FromFlightCtrl.Param.Byte[5]; |
356 | FC.Poti3 = FromFlightCtrl.Param.Byte[6]; |
356 | FC.Poti3 = FromFlightCtrl.Param.Byte[6]; |
357 | FC.Poti4 = FromFlightCtrl.Param.Byte[7]; |
357 | FC.Poti4 = FromFlightCtrl.Param.Byte[7]; |
358 | FC.RC_Quality = FromFlightCtrl.Param.Byte[8]; |
358 | FC.RC_Quality = FromFlightCtrl.Param.Byte[8]; |
- | 359 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[9]; |
|
359 | break; |
360 | break; |
360 | 361 | ||
361 | case SPI_CMD_MISC: |
362 | case SPI_CMD_MISC: |
362 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
363 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
363 | { // put only new CompassCalState into queue to send via I2C |
364 | { // put only new CompassCalState into queue to send via I2C |
364 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
365 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
365 | fifo_put(&CompassCalcStateFiFo, CompassCalState); |
366 | fifo_put(&CompassCalcStateFiFo, CompassCalState); |
366 | } |
367 | } |
367 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
368 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
368 | NaviData.Variometer = (NaviData.Variometer + 2 * ((s16) FromFlightCtrl.Param.Int[1] - NaviData.Altimeter)) / 2; // provisorisch |
369 | NaviData.Variometer = (NaviData.Variometer + 2 * ((s16) FromFlightCtrl.Param.Int[1] - NaviData.Altimeter)) / 2; // provisorisch |
369 | NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3 |
370 | NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3 |
370 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[4],0,255); |
371 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[4],0,255); |
371 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[5],0,255); |
372 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[5],0,255); |
372 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[6],0,255); |
373 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[6],0,255); |
373 | break; |
374 | break; |
374 | 375 | ||
375 | case SPI_CMD_SERVOS: |
376 | case SPI_CMD_SERVOS: |
376 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
377 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
377 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
378 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
378 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
379 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
379 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
380 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
380 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
381 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
381 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
382 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
382 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
383 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
383 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
384 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
384 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
385 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
385 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
386 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
386 | break; |
387 | break; |
387 | 388 | ||
388 | case SPI_CMD_VERSION: |
389 | case SPI_CMD_VERSION: |
389 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
390 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
390 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
391 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
391 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
392 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
392 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
393 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
393 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
394 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
394 | break; |
395 | break; |
395 | 396 | ||
396 | default: |
397 | default: |
397 | break; |
398 | break; |
398 | } |
399 | } |
399 | 400 | ||
400 | // every time we got new data from the FC via SPI call the navigation routine |
401 | // every time we got new data from the FC via SPI call the navigation routine |
401 | GPS_Navigation(); |
402 | GPS_Navigation(); |
402 | ClearMKFlags = 1; |
403 | ClearMKFlags = 1; |
403 | 404 | ||
404 | SPI_RxBuffer_Request = 0; |
405 | SPI_RxBuffer_Request = 0; |
405 | 406 | ||
406 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
407 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
407 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
408 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
408 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
409 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
409 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
410 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
410 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
411 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
411 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
412 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
412 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
413 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
413 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
414 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
414 | } // EOF if(SPI_RxBuffer_Request) |
415 | } // EOF if(SPI_RxBuffer_Request) |
415 | } |
416 | } |
416 | 417 | ||
417 | //------------------------------------------------------ |
418 | //------------------------------------------------------ |
418 | void SPI0_GetFlightCtrlVersion(void) |
419 | void SPI0_GetFlightCtrlVersion(void) |
419 | { |
420 | { |
420 | u16 timeout; |
421 | u16 timeout; |
421 | u8 msg[64]; |
422 | u8 msg[64]; |
422 | 423 | ||
423 | FC_Version.Major = 0xFF; |
424 | FC_Version.Major = 0xFF; |
424 | FC_Version.Minor = 0xFF; |
425 | FC_Version.Minor = 0xFF; |
425 | FC_Version.Patch = 0xFF; |
426 | FC_Version.Patch = 0xFF; |
426 | FC_Version.Compatible = 0xFF; |
427 | FC_Version.Compatible = 0xFF; |
427 | 428 | ||
428 | // polling FC version info for 2 second |
429 | // polling FC version info for 2 second |
429 | timeout = SetDelay(2000); |
430 | timeout = SetDelay(2000); |
430 | do |
431 | do |
431 | { |
432 | { |
432 | SPI0_UpdateBuffer(); |
433 | SPI0_UpdateBuffer(); |
433 | if (FC_Version.Major != 0xFF) break; |
434 | if (FC_Version.Major != 0xFF) break; |
434 | }while (!CheckDelay(timeout)); |
435 | }while (!CheckDelay(timeout)); |
435 | // if we got it |
436 | // if we got it |
436 | if (FC_Version.Major != 0xFF) |
437 | if (FC_Version.Major != 0xFF) |
437 | { |
438 | { |
438 | 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); |
439 | 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); |
439 | UART1_PutString(msg); |
440 | UART1_PutString(msg); |
440 | sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
441 | sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
441 | UART1_PutString(msg); |
442 | UART1_PutString(msg); |
442 | } |
443 | } |
443 | else UART1_PutString("\n\r No version information from FlightCtrl."); |
444 | else UART1_PutString("\n\r No version information from FlightCtrl."); |
444 | } |
445 | } |
445 | 446 | ||
446 | 447 | ||
447 | 448 |