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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| 15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
| 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| 37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| 40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
| 43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| 53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 56 | 56 | ||
| 57 | #include <string.h> |
57 | #include <string.h> |
| 58 | #include <math.h> |
58 | #include <math.h> |
| 59 | #include <stdlib.h> |
59 | #include <stdlib.h> |
| 60 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
| 61 | #include "led.h" |
61 | #include "led.h" |
| 62 | #include "gps.h" |
62 | #include "gps.h" |
| 63 | #include "uart1.h" |
63 | #include "uart1.h" |
| 64 | #include "spi_slave.h" |
64 | #include "spi_slave.h" |
| 65 | #include "compass.h" |
65 | #include "compass.h" |
| 66 | #include "timer1.h" |
66 | #include "timer1.h" |
| 67 | #include "timer2.h" |
67 | #include "timer2.h" |
| 68 | #include "config.h" |
68 | #include "config.h" |
| 69 | #include "main.h" |
69 | #include "main.h" |
| 70 | #include "params.h" |
70 | #include "params.h" |
| 71 | #include "settings.h" |
71 | #include "settings.h" |
| 72 | 72 | ||
| 73 | #define SPI_RXSYNCBYTE1 0xAA |
73 | #define SPI_RXSYNCBYTE1 0xAA |
| 74 | #define SPI_RXSYNCBYTE2 0x83 |
74 | #define SPI_RXSYNCBYTE2 0x83 |
| 75 | #define SPI_TXSYNCBYTE1 0x81 |
75 | #define SPI_TXSYNCBYTE1 0x81 |
| 76 | #define SPI_TXSYNCBYTE2 0x55 |
76 | #define SPI_TXSYNCBYTE2 0x55 |
| 77 | 77 | ||
| 78 | //communication packets |
78 | //communication packets |
| 79 | FromFlightCtrl_t FromFlightCtrl; |
79 | FromFlightCtrl_t FromFlightCtrl; |
| 80 | ToFlightCtrl_t ToFlightCtrl; |
80 | ToFlightCtrl_t ToFlightCtrl; |
| 81 | #define SPI0_TIMEOUT 2500 //ms |
81 | #define SPI0_TIMEOUT 2500 //ms |
| 82 | volatile u32 SPI0_Timeout = 0; |
82 | volatile u32 SPI0_Timeout = 0; |
| 83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
| 84 | u8 SpeakHoTT = 0; |
84 | u8 SpeakHoTT = 0; |
| 85 | 85 | ||
| 86 | // tx packet buffer |
86 | // tx packet buffer |
| 87 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
87 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
| 88 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10]; |
88 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10]; |
| 89 | volatile u8 SPI_TxBufferIndex = 0; |
89 | volatile u8 SPI_TxBufferIndex = 0; |
| 90 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
90 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
| 91 | 91 | ||
| 92 | // rx packet buffer |
92 | // rx packet buffer |
| 93 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
93 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
| 94 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN+10]; |
94 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN+10]; |
| 95 | volatile u8 SPI_RxBufferIndex = 0; |
95 | volatile u8 SPI_RxBufferIndex = 0; |
| 96 | volatile u8 SPI_RxBuffer_Request = 0; |
96 | volatile u8 SPI_RxBuffer_Request = 0; |
| 97 | #define SPI_COMMAND_INDEX 0 |
97 | #define SPI_COMMAND_INDEX 0 |
| 98 | 98 | ||
| 99 | s32 Kalman_K = 32; |
99 | s32 Kalman_K = 32; |
| 100 | s32 Kalman_MaxDrift = 5 * 16; |
100 | s32 Kalman_MaxDrift = 5 * 16; |
| 101 | s32 Kalman_MaxFusion = 64; |
101 | s32 Kalman_MaxFusion = 64; |
| 102 | s32 Kalman_Kompass = 32; |
102 | s32 Kalman_Kompass = 32; |
| 103 | s32 ToFcGpsZ = 0; |
103 | s32 ToFcGpsZ = 0; |
| 104 | u8 CompassCalState = 0; |
104 | u8 CompassCalState = 0; |
| 105 | 105 | ||
| 106 | u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION }; |
106 | u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION }; |
| 107 | u8 SPI_CommandCounter = 0; |
107 | u8 SPI_CommandCounter = 0; |
| 108 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
108 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| 109 | s32 HeadFreeStartAngle = 0; |
109 | s32 HeadFreeStartAngle = 0; |
| 110 | s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
110 | s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
| 111 | u32 ToFC_AltitudeRate = 0; |
111 | u32 ToFC_AltitudeRate = 0; |
| 112 | s32 ToFC_AltitudeSetpoint = 0; |
112 | s32 ToFC_AltitudeSetpoint = 0; |
| 113 | u8 FromFC_VarioCharacter = ' '; |
113 | u8 FromFC_VarioCharacter = ' '; |
| 114 | s16 GPS_Aid_StickMultiplikator = 0; |
114 | s16 GPS_Aid_StickMultiplikator = 0; |
| 115 | u8 NC_GPS_ModeCharacter = ' '; |
115 | u8 NC_GPS_ModeCharacter = ' '; |
| 116 | u8 FCCalibActive = 0; |
116 | u8 FCCalibActive = 0; |
| 117 | u8 FC_is_Calibrated = 0; |
117 | u8 FC_is_Calibrated = 0; |
| 118 | Motor_t Motor[12]; |
118 | Motor_t Motor[12]; |
| 119 | u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
119 | u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
| 120 | u8 NC_To_FC_Flags = 0; |
120 | u8 NC_To_FC_Flags = 0; |
| 121 | u8 BL_MinOfMaxPWM = 255; // indication if all BL-controllers run on full power |
121 | u8 BL_MinOfMaxPWM = 255; // indication if all BL-controllers run on full power |
| 122 | u8 Logging_BL_MinOfMaxPWM = 255; |
122 | u8 Logging_BL_MinOfMaxPWM = 255; |
| 123 | u8 ErrorCheck_BL_MinOfMaxPWM = 255; |
123 | u8 ErrorCheck_BL_MinOfMaxPWM = 255; |
| 124 | u32 FC_I2C_ErrorConter; |
124 | u32 FC_I2C_ErrorConter; |
| 125 | SPI_Version_t FC_Version; |
125 | SPI_Version_t FC_Version; |
| 126 | s16 POI_KameraNick = 0; |
126 | s16 POI_KameraNick = 0; |
| 127 | u8 NC_Wait_for_LED = 0; |
127 | u8 NC_Wait_for_LED = 0; |
| 128 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
128 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
| 129 | s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
129 | s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
| 130 | s16 CompassSetpoint = 0; // in 0,1° |
130 | s16 CompassSetpoint = 0; // in 0,1° |
| 131 | u8 AmountOfMotors = 0; |
131 | u8 AmountOfMotors = 0; |
| - | 132 | u16 FlugMinutenGesamt; |
|
| 132 | 133 | ||
| 133 | //-------------------------------------------------------------- |
134 | //-------------------------------------------------------------- |
| 134 | void SSP0_IRQHandler(void) |
135 | void SSP0_IRQHandler(void) |
| 135 | { |
136 | { |
| 136 | static u8 rxchksum = 0; |
137 | static u8 rxchksum = 0; |
| 137 | u8 rxdata; |
138 | u8 rxdata; |
| 138 | 139 | ||
| 139 | #define SPI_SYNC1 0 |
140 | #define SPI_SYNC1 0 |
| 140 | #define SPI_SYNC2 1 |
141 | #define SPI_SYNC2 1 |
| 141 | #define SPI_DATA 2 |
142 | #define SPI_DATA 2 |
| 142 | static u8 SPI_State = SPI_SYNC1; |
143 | static u8 SPI_State = SPI_SYNC1; |
| 143 | //IENABLE; |
144 | //IENABLE; |
| 144 | 145 | ||
| 145 | // clear pending bits |
146 | // clear pending bits |
| 146 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
147 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 147 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
148 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| 148 | 149 | ||
| 149 | // while RxFIFO not empty |
150 | // while RxFIFO not empty |
| 150 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
151 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
| 151 | { |
152 | { |
| 152 | rxdata = SSP0->DR; // catch the received byte |
153 | rxdata = SSP0->DR; // catch the received byte |
| 153 | // Fill TxFIFO while its not full or end of packet is reached |
154 | // Fill TxFIFO while its not full or end of packet is reached |
| 154 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
155 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| 155 | { |
156 | { |
| 156 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
157 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| 157 | { |
158 | { |
| 158 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
159 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| 159 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
160 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| 160 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
161 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
| 161 | SPI_TxBufferIndex++; // pointer to next byte |
162 | SPI_TxBufferIndex++; // pointer to next byte |
| 162 | } |
163 | } |
| 163 | else // end of packet is reached reset and copy data to tx buffer |
164 | else // end of packet is reached reset and copy data to tx buffer |
| 164 | { |
165 | { |
| 165 | SPI_TxBufferIndex = 0; // reset buffer index |
166 | SPI_TxBufferIndex = 0; // reset buffer index |
| 166 | ToFlightCtrl.Chksum = 0; // initialize checksum |
167 | ToFlightCtrl.Chksum = 0; // initialize checksum |
| 167 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
168 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
| 168 | BeepTime = 0; // reset local beeptime |
169 | BeepTime = 0; // reset local beeptime |
| 169 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
170 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
| 170 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
171 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 171 | } |
172 | } |
| 172 | } |
173 | } |
| 173 | switch (SPI_State) |
174 | switch (SPI_State) |
| 174 | { |
175 | { |
| 175 | case SPI_SYNC1: |
176 | case SPI_SYNC1: |
| 176 | SPI_RxBufferIndex = 0; // reset buffer index |
177 | SPI_RxBufferIndex = 0; // reset buffer index |
| 177 | rxchksum = rxdata; // init checksum |
178 | rxchksum = rxdata; // init checksum |
| 178 | if (rxdata == SPI_RXSYNCBYTE1) |
179 | if (rxdata == SPI_RXSYNCBYTE1) |
| 179 | { // 1st syncbyte ok |
180 | { // 1st syncbyte ok |
| 180 | SPI_State = SPI_SYNC2; // step to sync2 |
181 | SPI_State = SPI_SYNC2; // step to sync2 |
| 181 | } |
182 | } |
| 182 | break; |
183 | break; |
| 183 | case SPI_SYNC2: |
184 | case SPI_SYNC2: |
| 184 | if (rxdata == SPI_RXSYNCBYTE2) |
185 | if (rxdata == SPI_RXSYNCBYTE2) |
| 185 | { // 2nd Syncbyte ok |
186 | { // 2nd Syncbyte ok |
| 186 | rxchksum += rxdata; |
187 | rxchksum += rxdata; |
| 187 | SPI_State = SPI_DATA; |
188 | SPI_State = SPI_DATA; |
| 188 | } // 2nd Syncbyte does not match |
189 | } // 2nd Syncbyte does not match |
| 189 | else |
190 | else |
| 190 | { |
191 | { |
| 191 | SPI_State = SPI_SYNC1; //jump back to sync1 |
192 | SPI_State = SPI_SYNC1; //jump back to sync1 |
| 192 | } |
193 | } |
| 193 | break; |
194 | break; |
| 194 | case SPI_DATA: |
195 | case SPI_DATA: |
| 195 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
196 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
| 196 | if(SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
197 | if(SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
| 197 | { |
198 | { |
| 198 | if (rxdata == rxchksum) // verify checksum byte |
199 | if (rxdata == rxchksum) // verify checksum byte |
| 199 | { |
200 | { |
| 200 | // copy SPI_RxBuffer -> FromFlightCtrl |
201 | // copy SPI_RxBuffer -> FromFlightCtrl |
| 201 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
202 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
| 202 | { |
203 | { |
| 203 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
204 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
| 204 | SPI_RxBuffer_Request = 1; |
205 | SPI_RxBuffer_Request = 1; |
| 205 | } |
206 | } |
| 206 | // reset timeout counter on good packet |
207 | // reset timeout counter on good packet |
| 207 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
208 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
| 208 | DebugOut.Analog[13]++; |
209 | DebugOut.Analog[13]++; |
| 209 | } |
210 | } |
| 210 | else // bad checksum byte |
211 | else // bad checksum byte |
| 211 | { |
212 | { |
| 212 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
213 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
| 213 | } |
214 | } |
| 214 | SPI_State = SPI_SYNC1; // reset state |
215 | SPI_State = SPI_SYNC1; // reset state |
| 215 | } |
216 | } |
| 216 | else // end of packet not reached |
217 | else // end of packet not reached |
| 217 | { |
218 | { |
| 218 | rxchksum += rxdata; // update checksum |
219 | rxchksum += rxdata; // update checksum |
| 219 | } |
220 | } |
| 220 | break; |
221 | break; |
| 221 | default: |
222 | default: |
| 222 | SPI_State = SPI_SYNC1; |
223 | SPI_State = SPI_SYNC1; |
| 223 | break; |
224 | break; |
| 224 | } |
225 | } |
| 225 | } |
226 | } |
| 226 | 227 | ||
| 227 | // IDISABLE; |
228 | // IDISABLE; |
| 228 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
229 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
| 229 | } |
230 | } |
| 230 | 231 | ||
| 231 | //-------------------------------------------------------------- |
232 | //-------------------------------------------------------------- |
| 232 | void SPI0_Init(void) |
233 | void SPI0_Init(void) |
| 233 | { |
234 | { |
| 234 | GPIO_InitTypeDef GPIO_InitStructure; |
235 | GPIO_InitTypeDef GPIO_InitStructure; |
| 235 | SSP_InitTypeDef SSP_InitStructure; |
236 | SSP_InitTypeDef SSP_InitStructure; |
| 236 | 237 | ||
| 237 | UART1_PutString("\r\n SPI init..."); |
238 | UART1_PutString("\r\n SPI init..."); |
| 238 | 239 | ||
| 239 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
240 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| 240 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
241 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
| 241 | 242 | ||
| 242 | GPIO_DeInit(GPIO2); |
243 | GPIO_DeInit(GPIO2); |
| 243 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
244 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
| 244 | GPIO_StructInit(&GPIO_InitStructure); |
245 | GPIO_StructInit(&GPIO_InitStructure); |
| 245 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
246 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| 246 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
247 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
| 247 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
248 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| 248 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
249 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 249 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
250 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
| 250 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
251 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
| 251 | 252 | ||
| 252 | // SSP0_MISO pin GPIO2.6 |
253 | // SSP0_MISO pin GPIO2.6 |
| 253 | GPIO_StructInit(&GPIO_InitStructure); |
254 | GPIO_StructInit(&GPIO_InitStructure); |
| 254 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
255 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| 255 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
256 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
| 256 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
257 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| 257 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
258 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 258 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
259 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
| 259 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
260 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
| 260 | 261 | ||
| 261 | SSP_DeInit(SSP0); |
262 | SSP_DeInit(SSP0); |
| 262 | SSP_StructInit(&SSP_InitStructure); |
263 | SSP_StructInit(&SSP_InitStructure); |
| 263 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
264 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
| 264 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
265 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
| 265 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
266 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
| 266 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
267 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
| 267 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
268 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
| 268 | SSP_InitStructure.SSP_ClockRate = 0; |
269 | SSP_InitStructure.SSP_ClockRate = 0; |
| 269 | 270 | ||
| 270 | SSP_Init(SSP0, &SSP_InitStructure); |
271 | SSP_Init(SSP0, &SSP_InitStructure); |
| 271 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
272 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
| 272 | SSP_Cmd(SSP0, ENABLE); |
273 | SSP_Cmd(SSP0, ENABLE); |
| 273 | // initialize the syncbytes in the tx buffer |
274 | // initialize the syncbytes in the tx buffer |
| 274 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
275 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
| 275 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
276 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
| 276 | // set the pointer to the checksum byte in the tx buffer |
277 | // set the pointer to the checksum byte in the tx buffer |
| 277 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
278 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
| 278 | 279 | ||
| 279 | ToFlightCtrl.GPSStick.Nick = 0; |
280 | ToFlightCtrl.GPSStick.Nick = 0; |
| 280 | ToFlightCtrl.GPSStick.Roll = 0; |
281 | ToFlightCtrl.GPSStick.Roll = 0; |
| 281 | // ToFlightCtrl.GPSStick.Yaw = 0; |
282 | // ToFlightCtrl.GPSStick.Yaw = 0; |
| 282 | 283 | ||
| 283 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
284 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| 284 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
285 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 285 | 286 | ||
| 286 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
287 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
| 287 | 288 | ||
| 288 | UART1_PutString("ok"); |
289 | UART1_PutString("ok"); |
| 289 | } |
290 | } |
| 290 | 291 | ||
| 291 | 292 | ||
| 292 | //------------------------------------------------------ |
293 | //------------------------------------------------------ |
| 293 | void SPI0_UpdateBuffer(void) |
294 | void SPI0_UpdateBuffer(void) |
| 294 | { |
295 | { |
| 295 | static u32 timeout = 0; |
296 | static u32 timeout = 0; |
| 296 | static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0; |
297 | static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0; |
| 297 | static s16 last_wp_event = 0; |
298 | static s16 last_wp_event = 0; |
| 298 | s16 tmp; |
299 | s16 tmp; |
| 299 | s32 i1,i2; |
300 | s32 i1,i2; |
| 300 | /* |
301 | /* |
| 301 | union |
302 | union |
| 302 | { |
303 | { |
| 303 | unsigned char Byte[4]; |
304 | unsigned char Byte[4]; |
| 304 | unsigned int Int[2]; |
305 | unsigned int Int[2]; |
| 305 | unsigned long Long; |
306 | unsigned long Long; |
| 306 | } Temp; |
307 | } Temp; |
| 307 | */ |
308 | */ |
| 308 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
309 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
| 309 | if(SPI_RxBuffer_Request) |
310 | if(SPI_RxBuffer_Request) |
| 310 | { |
311 | { |
| 311 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
312 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
| 312 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
313 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
| 313 | ToFlightCtrl.CompassHeading = Compass_Heading; |
314 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| 314 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
315 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 315 | GyroCompassCorrected = (3600 + FromFlightCtrl.GyroHeading + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
316 | GyroCompassCorrected = (3600 + FromFlightCtrl.GyroHeading + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
| 316 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
317 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 317 | ToFlightCtrl.MagVecX = MagVector.X; |
318 | ToFlightCtrl.MagVecX = MagVector.X; |
| 318 | ToFlightCtrl.MagVecY = MagVector.Y; |
319 | ToFlightCtrl.MagVecY = MagVector.Y; |
| 319 | ToFlightCtrl.MagVecZ = MagVector.Z; |
320 | ToFlightCtrl.MagVecZ = MagVector.Z; |
| 320 | // ToFlightCtrl.NCStatus = 0; |
321 | // ToFlightCtrl.NCStatus = 0; |
| 321 | // cycle spi commands |
322 | // cycle spi commands |
| 322 | if(ErrorCode != last_error_code && enable_injecting) |
323 | if(ErrorCode != last_error_code && enable_injecting) |
| 323 | { |
324 | { |
| 324 | ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
325 | ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
| 325 | last_error_code = ErrorCode; |
326 | last_error_code = ErrorCode; |
| 326 | enable_injecting = 0; |
327 | enable_injecting = 0; |
| 327 | } |
328 | } |
| 328 | else |
329 | else |
| 329 | if(FC_WP_EventChannel != last_wp_event && enable_injecting) |
330 | if(FC_WP_EventChannel != last_wp_event && enable_injecting) |
| 330 | { |
331 | { |
| 331 | ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
332 | ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
| 332 | last_wp_event = FC_WP_EventChannel; |
333 | last_wp_event = FC_WP_EventChannel; |
| 333 | enable_injecting = 0; |
334 | enable_injecting = 0; |
| 334 | } |
335 | } |
| 335 | else |
336 | else |
| 336 | { |
337 | { |
| 337 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
338 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 338 | // restart command cycle at the end |
339 | // restart command cycle at the end |
| 339 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
340 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 340 | if(ToFlightCtrl.Command == SPI_NCCMD_KALMAN) enable_injecting = 1; |
341 | if(ToFlightCtrl.Command == SPI_NCCMD_KALMAN) enable_injecting = 1; |
| 341 | } |
342 | } |
| 342 | 343 | ||
| 343 | #define FLAG_GPS_AID 0x01 |
344 | #define FLAG_GPS_AID 0x01 |
| 344 | switch (ToFlightCtrl.Command) |
345 | switch (ToFlightCtrl.Command) |
| 345 | { |
346 | { |
| 346 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
347 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
| 347 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
348 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| 348 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
349 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| 349 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
350 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
| 350 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
351 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
| 351 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
352 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 352 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
353 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 353 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
354 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 354 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
355 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
| 355 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
356 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
| 356 | { |
357 | { |
| 357 | if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + 720 - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10)) % 360; // the FC uses the uncorrected comnpass value |
358 | if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + 720 - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10)) % 360; // the FC uses the uncorrected comnpass value |
| 358 | else CAM_Orientation.Azimuth = -1; |
359 | else CAM_Orientation.Azimuth = -1; |
| 359 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
360 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
| 360 | } |
361 | } |
| 361 | else |
362 | else |
| 362 | { |
363 | { |
| 363 | ToFlightCtrl.Param.sInt[4] = -1; |
364 | ToFlightCtrl.Param.sInt[4] = -1; |
| 364 | } |
365 | } |
| 365 | 366 | ||
| 366 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
367 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
| 367 | { |
368 | { |
| 368 | POI_KameraNick = tmp; |
369 | POI_KameraNick = tmp; |
| 369 | } |
370 | } |
| 370 | else |
371 | else |
| 371 | { |
372 | { |
| 372 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
373 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
| 373 | POI_KameraNick = CAM_Orientation.Elevation; |
374 | POI_KameraNick = CAM_Orientation.Elevation; |
| 374 | //else ToFlightCtrl.Param.sInt[5] = 0; |
375 | //else ToFlightCtrl.Param.sInt[5] = 0; |
| 375 | } |
376 | } |
| 376 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
377 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
| 377 | break; |
378 | break; |
| 378 | 379 | ||
| 379 | case SPI_NCCMD_VERSION: |
380 | case SPI_NCCMD_VERSION: |
| 380 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
381 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 381 | //+ higher than the maximum allowed altitude |
382 | //+ higher than the maximum allowed altitude |
| 382 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
383 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 383 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
384 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
| 384 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
385 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
| 385 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
386 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| 386 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
387 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| 387 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
388 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
| 388 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
389 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
| 389 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
390 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
| 390 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
391 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
| 391 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
392 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
| 392 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
393 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
| 393 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
394 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
| - | 395 | //[11] |
|
| 394 | if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
396 | // if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
| 395 | else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
397 | // else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
| 396 | break; |
398 | break; |
| 397 | case SPI_MISC: |
399 | case SPI_MISC: |
| 398 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
400 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
| 399 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
401 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
| 400 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
402 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
| 401 | ToFlightCtrl.Param.Byte[3] = SpeakHoTT; |
403 | ToFlightCtrl.Param.Byte[3] = SpeakHoTT; |
| 402 | ToFlightCtrl.Param.Byte[4] = NaviData.WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
404 | ToFlightCtrl.Param.Byte[4] = NaviData.WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
| 403 | ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints |
405 | ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints |
| 404 | ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10; |
406 | ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10; |
| 405 | ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
407 | ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
| 406 | ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex; |
408 | ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex; |
| 407 | ToFlightCtrl.Param.sInt[5] = GyroCompassCorrected / 10; // Bytes 10 & 11 |
409 | ToFlightCtrl.Param.sInt[5] = GyroCompassCorrected / 10; // Bytes 10 & 11 |
| 408 | SpeakHoTT = 0; |
410 | SpeakHoTT = 0; |
| 409 | break; |
411 | break; |
| 410 | 412 | ||
| 411 | case SPI_NCCMD_GPSINFO: |
413 | case SPI_NCCMD_GPSINFO: |
| 412 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
414 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
| 413 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
415 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
| 414 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
416 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
| 415 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
417 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| 416 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
418 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
| 417 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
419 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
| 418 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
420 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
| 419 | if(FC_WP_EventChannel) LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
421 | if(FC_WP_EventChannel) LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
| 420 | // ++++++++++++++++++++++++++++++++++ |
422 | // ++++++++++++++++++++++++++++++++++ |
| 421 | // Waypoint event +++++++++++++++++++ |
423 | // Waypoint event +++++++++++++++++++ |
| 422 | // ++++++++++++++++++++++++++++++++++ |
424 | // ++++++++++++++++++++++++++++++++++ |
| 423 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp)) |
425 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp)) |
| 424 | { |
426 | { |
| 425 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
427 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
| 426 | NCParams_ClearValue(NCPARAMS_WP_EVENT_ONCE); |
428 | NCParams_ClearValue(NCPARAMS_WP_EVENT_ONCE); |
| 427 | NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
429 | NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
| 428 | } |
430 | } |
| 429 | else |
431 | else |
| 430 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_FOREVER, &tmp)) |
432 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_FOREVER, &tmp)) |
| 431 | { |
433 | { |
| 432 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
434 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
| 433 | if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
435 | if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
| 434 | } |
436 | } |
| 435 | else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
437 | else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
| 436 | FC_WP_EventChannel = 0; // the GPS-Routine will set it again |
438 | FC_WP_EventChannel = 0; // the GPS-Routine will set it again |
| 437 | // ++++++++++++++++++++++++++++++++++ |
439 | // ++++++++++++++++++++++++++++++++++ |
| 438 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
440 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
| 439 | { |
441 | { |
| 440 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
442 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
| 441 | } |
443 | } |
| 442 | else |
444 | else |
| 443 | { |
445 | { |
| 444 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
446 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
| 445 | } |
447 | } |
| 446 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
448 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
| 447 | { |
449 | { |
| 448 | ToFlightCtrl.Param.sInt[5] = tmp; |
450 | ToFlightCtrl.Param.sInt[5] = tmp; |
| 449 | } |
451 | } |
| 450 | else |
452 | else |
| 451 | { |
453 | { |
| 452 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
454 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
| 453 | } |
455 | } |
| 454 | //DebugOut.Analog[] = ToFlightCtrl.Param.Byte[8]; |
456 | //DebugOut.Analog[] = ToFlightCtrl.Param.Byte[8]; |
| 455 | break; |
457 | break; |
| 456 | case SPI_NCCMD_HOTT_INFO: |
458 | case SPI_NCCMD_HOTT_INFO: |
| 457 | if(NewWPL_Name) hott_index = 100; |
459 | if(NewWPL_Name) hott_index = 100; |
| 458 | switch(hott_index++) |
460 | switch(hott_index++) |
| 459 | { |
461 | { |
| 460 | case 0: |
462 | case 0: |
| 461 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
463 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
| 462 | //53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
464 | //53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
| 463 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
465 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
| 464 | ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
466 | ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
| 465 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
467 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
| 466 | //----------------------------- |
468 | //----------------------------- |
| 467 | ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
469 | ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
| 468 | i1 = GPSData.Speed_Ground; // in cm/sec |
470 | i1 = GPSData.Speed_Ground; // in cm/sec |
| 469 | i1 *= 36; |
471 | i1 *= 36; |
| 470 | i1 /= 1000; |
472 | i1 /= 1000; |
| 471 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
473 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
| 472 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
474 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
| 473 | //----------------------------- |
475 | //----------------------------- |
| 474 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
476 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
| 475 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
477 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
| 476 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
478 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
| 477 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
479 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
| 478 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
480 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
| 479 | i1 *= 100; |
481 | i1 *= 100; |
| 480 | // Minuten |
482 | // Minuten |
| 481 | i2 *= 6; |
483 | i2 *= 6; |
| 482 | i2 /= 10; |
484 | i2 /= 10; |
| 483 | i1 += i2 / 100000; |
485 | i1 += i2 / 100000; |
| 484 | i2 = i2 % 100000; |
486 | i2 = i2 % 100000; |
| 485 | i2 /= 10; |
487 | i2 /= 10; |
| 486 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
488 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
| 487 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
489 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
| 488 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
490 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
| 489 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
491 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
| 490 | break; |
492 | break; |
| 491 | case 1: |
493 | case 1: |
| 492 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
494 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
| 493 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
495 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
| 494 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
496 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
| 495 | //----------------------------- |
497 | //----------------------------- |
| 496 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
498 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
| 497 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
499 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
| 498 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
500 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
| 499 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
501 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
| 500 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
502 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
| 501 | i1 *= 100; |
503 | i1 *= 100; |
| 502 | // Minuten |
504 | // Minuten |
| 503 | i2 *= 6; |
505 | i2 *= 6; |
| 504 | i2 /= 10; |
506 | i2 /= 10; |
| 505 | i1 += i2 / 100000; |
507 | i1 += i2 / 100000; |
| 506 | i2 = i2 % 100000; |
508 | i2 = i2 % 100000; |
| 507 | i2 /= 10; |
509 | i2 /= 10; |
| 508 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
510 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
| 509 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
511 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
| 510 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
512 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
| 511 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
513 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
| 512 | //----------------------------- |
514 | //----------------------------- |
| 513 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
515 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
| 514 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
516 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
| 515 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
517 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
| 516 | break; |
518 | break; |
| 517 | case 2: |
519 | case 2: |
| 518 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
520 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
| 519 | ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
521 | ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
| 520 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
522 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
| 521 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
523 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
| 522 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
524 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
| 523 | break; |
525 | break; |
| 524 | case 3: |
526 | case 3: |
| 525 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1; |
527 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1; |
| 526 | ToFlightCtrl.Param.Byte[0] = 0; // index |
528 | ToFlightCtrl.Param.Byte[0] = 0; // index |
| 527 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
529 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
| 528 | //JetiExData[14].Value = 53 * 0x10000 + 23467; |
530 | //JetiExData[14].Value = 53 * 0x10000 + 23467; |
| 529 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40; |
531 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40; |
| 530 | else ToFlightCtrl.Param.Byte[5] = 0x00; |
532 | else ToFlightCtrl.Param.Byte[5] = 0x00; |
| 531 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L; |
533 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L; |
| 532 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
534 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
| 533 | i2 *= 6; |
535 | i2 *= 6; |
| 534 | i2 /= 1000; |
536 | i2 /= 1000; |
| 535 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
537 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
| 536 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
538 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
| 537 | break; |
539 | break; |
| 538 | case 4: |
540 | case 4: |
| 539 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2; |
541 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2; |
| 540 | ToFlightCtrl.Param.Byte[0] = 0; // index |
542 | ToFlightCtrl.Param.Byte[0] = 0; // index |
| 541 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
543 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
| 542 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60; |
544 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60; |
| 543 | else ToFlightCtrl.Param.Byte[5] = 0x20; |
545 | else ToFlightCtrl.Param.Byte[5] = 0x20; |
| 544 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L; |
546 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L; |
| 545 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
547 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
| 546 | i2 *= 6; |
548 | i2 *= 6; |
| 547 | i2 /= 1000; |
549 | i2 /= 1000; |
| 548 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
550 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
| 549 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
551 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
| 550 | hott_index = 0; |
552 | hott_index = 0; |
| 551 | break; |
553 | break; |
| 552 | 554 | ||
| 553 | case 100: |
555 | case 100: |
| 554 | ToFlightCtrl.Param.Byte[11] = HOTT_WPL_NAME; |
556 | ToFlightCtrl.Param.Byte[11] = HOTT_WPL_NAME; |
| 555 | ToFlightCtrl.Param.Byte[0] = 0; // index |
557 | ToFlightCtrl.Param.Byte[0] = 0; // index |
| 556 | ToFlightCtrl.Param.Byte[2] = WPL_Store.Name[0]; |
558 | ToFlightCtrl.Param.Byte[2] = WPL_Store.Name[0]; |
| 557 | ToFlightCtrl.Param.Byte[3] = WPL_Store.Name[1]; |
559 | ToFlightCtrl.Param.Byte[3] = WPL_Store.Name[1]; |
| 558 | ToFlightCtrl.Param.Byte[4] = WPL_Store.Name[2]; |
560 | ToFlightCtrl.Param.Byte[4] = WPL_Store.Name[2]; |
| 559 | ToFlightCtrl.Param.Byte[5] = WPL_Store.Name[3]; |
561 | ToFlightCtrl.Param.Byte[5] = WPL_Store.Name[3]; |
| 560 | ToFlightCtrl.Param.Byte[6] = WPL_Store.Name[4]; |
562 | ToFlightCtrl.Param.Byte[6] = WPL_Store.Name[4]; |
| 561 | ToFlightCtrl.Param.Byte[7] = WPL_Store.Name[5]; |
563 | ToFlightCtrl.Param.Byte[7] = WPL_Store.Name[5]; |
| 562 | ToFlightCtrl.Param.Byte[8] = WPL_Store.Name[6]; |
564 | ToFlightCtrl.Param.Byte[8] = WPL_Store.Name[6]; |
| 563 | ToFlightCtrl.Param.Byte[9] = WPL_Store.Name[7]; |
565 | ToFlightCtrl.Param.Byte[9] = WPL_Store.Name[7]; |
| 564 | ToFlightCtrl.Param.Byte[10]= WPL_Store.Name[8]; |
566 | ToFlightCtrl.Param.Byte[10]= WPL_Store.Name[8]; |
| 565 | ToFlightCtrl.Param.Byte[1] = 9; // how many |
567 | ToFlightCtrl.Param.Byte[1] = 9; // how many |
| 566 | NewWPL_Name = 0; |
568 | NewWPL_Name = 0; |
| 567 | hott_index = 0; |
569 | hott_index = 0; |
| 568 | break; |
570 | break; |
| 569 | default: |
571 | default: |
| 570 | ToFlightCtrl.Param.Byte[0] = 255; |
572 | ToFlightCtrl.Param.Byte[0] = 255; |
| 571 | hott_index = 0; |
573 | hott_index = 0; |
| 572 | break; |
574 | break; |
| 573 | } |
575 | } |
| 574 | break; |
576 | break; |
| 575 | default: |
577 | default: |
| 576 | break; |
578 | break; |
| 577 | // 0 = 0,1 |
579 | // 0 = 0,1 |
| 578 | // 1 = 2,3 |
580 | // 1 = 2,3 |
| 579 | // 2 = 4,5 |
581 | // 2 = 4,5 |
| 580 | // 3 = 6,7 |
582 | // 3 = 6,7 |
| 581 | // 4 = 8,9 |
583 | // 4 = 8,9 |
| 582 | // 5 = 10,11 |
584 | // 5 = 10,11 |
| 583 | } |
585 | } |
| 584 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
586 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
| 585 | switch(FromFlightCtrl.Command) |
587 | switch(FromFlightCtrl.Command) |
| 586 | { |
588 | { |
| 587 | case SPI_FCCMD_USER: |
589 | case SPI_FCCMD_USER: |
| 588 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
590 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| 589 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
591 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
| 590 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
592 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
| 591 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
593 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
| 592 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
594 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
| 593 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
595 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
| 594 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
596 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
| 595 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
597 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
| 596 | if(ClearFCStatusFlags) |
598 | if(ClearFCStatusFlags) |
| 597 | { |
599 | { |
| 598 | FC.StatusFlags = 0; |
600 | FC.StatusFlags = 0; |
| 599 | ClearFCStatusFlags = 0; |
601 | ClearFCStatusFlags = 0; |
| 600 | } |
602 | } |
| 601 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
603 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
| 602 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
604 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
| 603 | { |
605 | { |
| 604 | // HeadFreeStartAngle = (3600 + Compass_Heading * 10 - GeoMagDec) % 3600; |
606 | // HeadFreeStartAngle = (3600 + Compass_Heading * 10 - GeoMagDec) % 3600; |
| 605 | HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
607 | HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
| 606 | Compass_Init(); |
608 | Compass_Init(); |
| 607 | FCCalibActive = 10; |
609 | FCCalibActive = 10; |
| 608 | FC_is_Calibrated = 0; |
610 | FC_is_Calibrated = 0; |
| 609 | } |
611 | } |
| 610 | else |
612 | else |
| 611 | { |
613 | { |
| 612 | if(FCCalibActive) |
614 | if(FCCalibActive) |
| 613 | { |
615 | { |
| 614 | if(--FCCalibActive == 0) |
616 | if(--FCCalibActive == 0) |
| 615 | { |
617 | { |
| 616 | FC_is_Calibrated = 1; |
618 | FC_is_Calibrated = 1; |
| 617 | Compass_Check(); |
619 | Compass_Check(); |
| 618 | } |
620 | } |
| 619 | } |
621 | } |
| 620 | } |
622 | } |
| 621 | if(FC.StatusFlags & FC_STATUS_START) |
623 | if(FC.StatusFlags & FC_STATUS_START) |
| 622 | { |
624 | { |
| 623 | // if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 - GeoMagDec) % 3600; else |
625 | // if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 - GeoMagDec) % 3600; else |
| 624 | if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
626 | if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
| 625 | else HeadFreeStartAngle = GyroCompassCorrected; |
627 | else HeadFreeStartAngle = GyroCompassCorrected; |
| 626 | } |
628 | } |
| 627 | 629 | ||
| 628 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
630 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
| 629 | { |
631 | { |
| 630 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
632 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
| 631 | { |
633 | { |
| 632 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
634 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
| 633 | { |
635 | { |
| 634 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
636 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
| 635 | } |
637 | } |
| 636 | else // Ansonsten die aktuelle Richtung übernehmen |
638 | else // Ansonsten die aktuelle Richtung übernehmen |
| 637 | HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
639 | HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
| 638 | } |
640 | } |
| 639 | } |
641 | } |
| 640 | 642 | ||
| 641 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
643 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 642 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[10]; |
644 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[10]; |
| 643 | DebugOut.Analog[7] = FC.BAT_Voltage; |
645 | DebugOut.Analog[7] = FC.BAT_Voltage; |
| 644 | DebugOut.Analog[5] = FC.StatusFlags; |
646 | DebugOut.Analog[5] = FC.StatusFlags; |
| 645 | NaviData.FCStatusFlags = FC.StatusFlags; |
647 | NaviData.FCStatusFlags = FC.StatusFlags; |
| 646 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
648 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
| 647 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
649 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
| 648 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
650 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
| 649 | 651 | ||
| 650 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
652 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
| 651 | else |
653 | else |
| 652 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
654 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
| 653 | 655 | ||
| 654 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
656 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
| 655 | else |
657 | else |
| 656 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
658 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
| 657 | 659 | ||
| 658 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
660 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
| 659 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
661 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
| 660 | break; |
662 | break; |
| 661 | 663 | ||
| 662 | case SPI_FCCMD_BL_ACCU: |
664 | case SPI_FCCMD_BL_ACCU: |
| 663 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
665 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
| 664 | DebugOut.Analog[8] = FC.BAT_Current; |
666 | DebugOut.Analog[8] = FC.BAT_Current; |
| 665 | if(AmountOfMotors < FromFlightCtrl.Param.Byte[2]+1) AmountOfMotors = FromFlightCtrl.Param.Byte[2]+1; |
667 | if(AmountOfMotors < FromFlightCtrl.Param.Byte[2]+1) AmountOfMotors = FromFlightCtrl.Param.Byte[2]+1; |
| 666 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[3]; |
668 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[3]; |
| 667 | if(BL_MinOfMaxPWM < Logging_BL_MinOfMaxPWM) Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until logged |
669 | if(BL_MinOfMaxPWM < Logging_BL_MinOfMaxPWM) Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until logged |
| 668 | if(BL_MinOfMaxPWM < ErrorCheck_BL_MinOfMaxPWM) ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until Error processed |
670 | if(BL_MinOfMaxPWM < ErrorCheck_BL_MinOfMaxPWM) ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until Error processed |
| 669 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[4]; |
671 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[4]; |
| 670 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[5]; |
672 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[5]; |
| 671 | Motor[FromFlightCtrl.Param.Byte[2]].NotReadyCnt = FromFlightCtrl.Param.Byte[6]; |
673 | Motor[FromFlightCtrl.Param.Byte[2]].NotReadyCnt = FromFlightCtrl.Param.Byte[6]; |
| 672 | Motor_Version[FromFlightCtrl.Param.Byte[2]] = FromFlightCtrl.Param.Byte[7]; |
674 | Motor_Version[FromFlightCtrl.Param.Byte[2]] = FromFlightCtrl.Param.Byte[7]; |
| 673 | Motor[FromFlightCtrl.Param.Byte[2]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
675 | Motor[FromFlightCtrl.Param.Byte[2]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
| 674 | Motor[FromFlightCtrl.Param.Byte[2]].State = FromFlightCtrl.Param.Byte[9]; |
676 | Motor[FromFlightCtrl.Param.Byte[2]].State = FromFlightCtrl.Param.Byte[9]; |
| 675 | Motor[FromFlightCtrl.Param.Byte[2]].Temperature = FromFlightCtrl.Param.Byte[10]; |
677 | Motor[FromFlightCtrl.Param.Byte[2]].Temperature = FromFlightCtrl.Param.Byte[10]; |
| 676 | Motor[FromFlightCtrl.Param.Byte[2]].Current = FromFlightCtrl.Param.Byte[11]; |
678 | Motor[FromFlightCtrl.Param.Byte[2]].Current = FromFlightCtrl.Param.Byte[11]; |
| 677 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
679 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
| 678 | { |
680 | { |
| 679 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
681 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
| 680 | } |
682 | } |
| 681 | NaviData.UBat = FC.BAT_Voltage; |
683 | NaviData.UBat = FC.BAT_Voltage; |
| 682 | NaviData.Current = FC.BAT_Current; |
684 | NaviData.Current = FC.BAT_Current; |
| 683 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
685 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
| 684 | break; |
686 | break; |
| 685 | case SPI_FCCMD_PARAMETER1: |
687 | case SPI_FCCMD_PARAMETER1: |
| 686 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[0]; |
688 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[0]; |
| 687 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
689 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
| 688 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
690 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
| 689 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
691 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
| 690 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
692 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
| 691 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
693 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
| 692 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
694 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
| 693 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
695 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
| 694 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
696 | // CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| - | 697 | Parameter.NaviMaxFlyingRange = FromFlightCtrl.Param.Byte[8]; |
|
| 695 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
698 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 696 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
699 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
| 697 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
700 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
| 698 | break; |
701 | break; |
| 699 | case SPI_FCCMD_PARAMETER2: |
702 | case SPI_FCCMD_PARAMETER2: |
| 700 | CHK_POTI_MM(Parameter.AutoPhotoDistance,FromFlightCtrl.Param.Byte[0],0,255); |
703 | CHK_POTI_MM(Parameter.AutoPhotoDistance,FromFlightCtrl.Param.Byte[0],0,255); |
| 701 | if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
704 | if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
| 702 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[2]; |
705 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[2]; |
| 703 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[3]; |
706 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[3]; |
| 704 | Parameter.FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4]; |
707 | Parameter.FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4]; |
| 705 | if(FromFlightCtrl.Param.Byte[5]) FromFC_LoadWP_List = FromFlightCtrl.Param.Byte[5]; |
708 | if(FromFlightCtrl.Param.Byte[5]) FromFC_LoadWP_List = FromFlightCtrl.Param.Byte[5]; |
| 706 | if(FromFlightCtrl.Param.Byte[6]) FromFC_Load_SinglePoint = FromFlightCtrl.Param.Byte[6]; |
709 | if(FromFlightCtrl.Param.Byte[6]) FromFC_Load_SinglePoint = FromFlightCtrl.Param.Byte[6]; |
| 707 | if(FromFlightCtrl.Param.Byte[7]) FromFC_Save_SinglePoint = FromFlightCtrl.Param.Byte[7]; |
710 | if(FromFlightCtrl.Param.Byte[7]) FromFC_Save_SinglePoint = FromFlightCtrl.Param.Byte[7]; |
| 708 | CompassSetpoint = FromFlightCtrl.Param.sInt[4] * 10; // 8 & 9 |
711 | CompassSetpoint = FromFlightCtrl.Param.sInt[4] * 10; // 8 & 9 |
| 709 | CompassSetpointCorrected = (3600 + CompassSetpoint + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
712 | CompassSetpointCorrected = (3600 + CompassSetpoint + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
| 710 | CHK_POTI_MM(Parameter.AutoPhotoAltitudes,FromFlightCtrl.Param.Byte[10],0,255); |
713 | CHK_POTI_MM(Parameter.AutoPhotoAltitudes,FromFlightCtrl.Param.Byte[10],0,255); |
| 711 | Parameter.SingleWpSpeed = FromFlightCtrl.Param.Byte[11]; |
714 | Parameter.SingleWpSpeed = FromFlightCtrl.Param.Byte[11]; |
| 712 | break; |
715 | break; |
| 713 | case SPI_FCCMD_STICK: |
716 | case SPI_FCCMD_STICK: |
| 714 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
717 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| 715 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
718 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
| 716 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
719 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
| 717 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
720 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
| 718 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
721 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
| 719 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
722 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
| 720 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
723 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
| 721 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
724 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
| 722 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
725 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
| 723 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
726 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
| 724 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
727 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
| 725 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
728 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
| 726 | CHK_POTI_MM(WaypointAcceleration,WaypointAccelerationSetting,0,255); // that could be a Poti-Value |
729 | CHK_POTI_MM(WaypointAcceleration,WaypointAccelerationSetting,0,255); // that could be a Poti-Value |
| 727 | break; |
730 | break; |
| 728 | 731 | ||
| 729 | case SPI_FCCMD_MISC: |
732 | case SPI_FCCMD_MISC: |
| 730 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
733 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| 731 | { // put only new CompassCalState into queue to send via I2C |
734 | { // put only new CompassCalState into queue to send via I2C |
| 732 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
735 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
| 733 | { |
736 | { |
| 734 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
737 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
| 735 | Compass_SetCalState(CompassCalState); |
738 | Compass_SetCalState(CompassCalState); |
| 736 | } |
739 | } |
| 737 | // else CompassCalState = 0; |
740 | // else CompassCalState = 0; |
| 738 | } |
741 | } |
| 739 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
742 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
| 740 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
743 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
| 741 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
744 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
| 742 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
745 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
| 743 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
746 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| 744 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
747 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
| 745 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
748 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
| 746 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
749 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| 747 | NaviData.RC_Quality = FC.RC_Quality; |
750 | NaviData.RC_Quality = FC.RC_Quality; |
| 748 | NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10]; |
751 | NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10]; |
| 749 | // FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
752 | // FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
| 750 | // if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
753 | // if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
| 751 | // NaviData.RC_RSSI = FC.RC_RSSI; |
754 | // NaviData.RC_RSSI = FC.RC_RSSI; |
| 752 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
755 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
| 753 | break; |
756 | break; |
| 754 | 757 | ||
| 755 | case SPI_FCCMD_SERVOS: |
758 | case SPI_FCCMD_SERVOS: |
| 756 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[0]; |
759 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[0]; |
| 757 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
760 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
| 758 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[3]; |
761 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[3]; |
| 759 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[4]; |
762 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[4]; |
| 760 | FC.RedundanceBlOperation = FromFlightCtrl.Param.Byte[5]; |
763 | FC.RedundanceBlOperation = FromFlightCtrl.Param.Byte[5]; |
| - | 764 | Parameter.DescendRange = FromFlightCtrl.Param.Byte[6]; |
|
| - | 765 | Parameter.MaximumAltitude = FromFlightCtrl.Param.Byte[7]; |
|
| - | 766 | FlugMinutenGesamt = FromFlightCtrl.Param.Int[4]; // 8 & 9 |
|
| 761 | break; |
767 | break; |
| 762 | 768 | ||
| 763 | case SPI_FCCMD_VERSION: |
769 | case SPI_FCCMD_VERSION: |
| 764 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
770 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 765 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
771 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
| 766 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
772 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
| 767 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
773 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
| 768 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
774 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
| 769 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
775 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
| 770 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
776 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
| 771 | if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188) |
777 | if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188) |
| 772 | { |
778 | { |
| 773 | FC.FromFC_DisableDeclination = 1; |
779 | FC.FromFC_DisableDeclination = 1; |
| 774 | FC.FromFC_CompassOffset = 10 * (s8) (FromFlightCtrl.Param.Byte[7] - 128); |
780 | FC.FromFC_CompassOffset = 10 * (s8) (FromFlightCtrl.Param.Byte[7] - 128); |
| 775 | GeoMagDec = 0; |
781 | GeoMagDec = 0; |
| 776 | } |
782 | } |
| 777 | else |
783 | else |
| 778 | { |
784 | { |
| 779 | FC.FromFC_DisableDeclination = 0; |
785 | FC.FromFC_DisableDeclination = 0; |
| 780 | FC.FromFC_CompassOffset = 10 * FromFlightCtrl.Param.sByte[7]; |
786 | FC.FromFC_CompassOffset = 10 * FromFlightCtrl.Param.sByte[7]; |
| 781 | } |
787 | } |
| 782 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
788 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
| 783 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
789 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
| 784 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
790 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
| 785 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
791 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
| 786 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
792 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
| 787 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
793 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
| 788 | if(FC.Error[0] || FC.Error[1] /* || FC.Error[2] || FC.Error[3] || FC.Error[4]*/) DebugOut.StatusRed |= AMPEL_FC; |
794 | if(FC.Error[0] || FC.Error[1] /* || FC.Error[2] || FC.Error[3] || FC.Error[4]*/) DebugOut.StatusRed |= AMPEL_FC; |
| 789 | else DebugOut.StatusRed &= ~AMPEL_FC; |
795 | else DebugOut.StatusRed &= ~AMPEL_FC; |
| 790 | break; |
796 | break; |
| 791 | default: |
797 | default: |
| 792 | break; |
798 | break; |
| 793 | } |
799 | } |
| 794 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
800 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| 795 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
801 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
| 796 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
802 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
| 797 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
803 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
| 798 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
804 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
| 799 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
805 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
| 800 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
806 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
| 801 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
807 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
| 802 | // every time we got new data from the FC via SPI call the navigation routine |
808 | // every time we got new data from the FC via SPI call the navigation routine |
| 803 | // and update GPSStick that are returned to FC |
809 | // and update GPSStick that are returned to FC |
| 804 | SPI_RxBuffer_Request = 0; |
810 | SPI_RxBuffer_Request = 0; |
| 805 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
811 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
| 806 | ClearFCStatusFlags = 1; |
812 | ClearFCStatusFlags = 1; |
| 807 | if(counter) |
813 | if(counter) |
| 808 | { |
814 | { |
| 809 | counter--; // count down to enable servo |
815 | counter--; // count down to enable servo |
| 810 | if(!counter) TIMER2_Init(); // enable Servo Output |
816 | if(!counter) TIMER2_Init(); // enable Servo Output |
| 811 | } |
817 | } |
| 812 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
818 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
| 813 | 819 | ||
| 814 | } // EOF if(SPI_RxBuffer_Request) |
820 | } // EOF if(SPI_RxBuffer_Request) |
| 815 | else // no new SPI data |
821 | else // no new SPI data |
| 816 | { |
822 | { |
| 817 | if(CheckDelay(timeout) && (counter == 0)) |
823 | if(CheckDelay(timeout) && (counter == 0)) |
| 818 | { |
824 | { |
| 819 | TIMER2_Deinit(); // disable Servo Output |
825 | TIMER2_Deinit(); // disable Servo Output |
| 820 | counter = 50; // reset counter for enabling Servo Output |
826 | counter = 50; // reset counter for enabling Servo Output |
| 821 | } |
827 | } |
| 822 | } |
828 | } |
| 823 | } |
829 | } |
| 824 | 830 | ||
| 825 | //------------------------------------------------------ |
831 | //------------------------------------------------------ |
| 826 | void SPI0_GetFlightCtrlVersion(void) |
832 | void SPI0_GetFlightCtrlVersion(void) |
| 827 | { |
833 | { |
| 828 | u32 timeout; |
834 | u32 timeout; |
| 829 | u8 repeat; |
835 | u8 repeat; |
| 830 | u8 msg[64]; |
836 | u8 msg[64]; |
| 831 | 837 | ||
| 832 | UART1_PutString("\r\n Looking for FlightControl"); |
838 | UART1_PutString("\r\n Looking for FlightControl"); |
| 833 | FC_Version.Major = 0xFF; |
839 | FC_Version.Major = 0xFF; |
| 834 | FC_Version.Minor = 0xFF; |
840 | FC_Version.Minor = 0xFF; |
| 835 | FC_Version.Patch = 0xFF; |
841 | FC_Version.Patch = 0xFF; |
| 836 | FC_Version.Compatible = 0xFF; |
842 | FC_Version.Compatible = 0xFF; |
| 837 | 843 | ||
| 838 | // polling FC version info |
844 | // polling FC version info |
| 839 | repeat = 0; |
845 | repeat = 0; |
| 840 | do |
846 | do |
| 841 | { |
847 | { |
| 842 | timeout = SetDelay(250); |
848 | timeout = SetDelay(250); |
| 843 | do |
849 | do |
| 844 | { |
850 | { |
| 845 | SPI0_UpdateBuffer(); |
851 | SPI0_UpdateBuffer(); |
| 846 | if (FC_Version.Major != 0xFF) break; |
852 | if (FC_Version.Major != 0xFF) break; |
| 847 | }while (!CheckDelay(timeout)); |
853 | }while (!CheckDelay(timeout)); |
| 848 | UART1_PutString("."); |
854 | UART1_PutString("."); |
| 849 | repeat++; |
855 | repeat++; |
| 850 | FCCalibActive = 1; |
856 | FCCalibActive = 1; |
| 851 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
857 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| 852 | // if we got it |
858 | // if we got it |
| 853 | if (FC_Version.Major != 0xFF) |
859 | if (FC_Version.Major != 0xFF) |
| 854 | { |
860 | { |
| 855 | sprintf(msg, " FC V%d.%d%c HW:%d.%02d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
861 | sprintf(msg, " FC V%d.%d%c HW:%d.%02d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
| 856 | UART1_PutString(msg); |
862 | UART1_PutString(msg); |
| 857 | } |
863 | } |
| 858 | else UART1_PutString("\n\r not found!"); |
864 | else UART1_PutString("\n\r not found!"); |
| 859 | } |
865 | } |
| 860 | 866 | ||
| 861 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
867 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 862 | // + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
868 | // + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
| 863 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
869 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 864 | u16 BL3_Current(u8 who) // in 0,1A |
870 | u16 BL3_Current(u8 who) // in 0,1A |
| 865 | { |
871 | { |
| 866 | if(Motor[who].Current <= 200) return((u16) Motor[who].Current); |
872 | if(Motor[who].Current <= 200) return((u16) Motor[who].Current); |
| 867 | else |
873 | else |
| 868 | { |
874 | { |
| 869 | if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (u16) (Motor[who].Current - 200)); |
875 | if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (u16) (Motor[who].Current - 200)); |
| 870 | else return((u16) Motor[who].Current); |
876 | else return((u16) Motor[who].Current); |
| 871 | } |
877 | } |
| 872 | } |
878 | } |
| 873 | 879 | ||
| 874 | 880 | ||