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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 |
- | |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
- | |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
- | |
| 8 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 7 | // + Software Nutzungsbedingungen (english version: see below) |
|
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
- | |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 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. |
|
| - | 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. |
|
| - | 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
|
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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 |
|
| - | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
|
| - | 22 | // + des Mitverschuldens offen. |
|
| - | 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. |
|
| - | 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 |
|
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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. |
|
| - | 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. |
|
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 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" |
- | |
| 22 | // + eindeutig als Ursprung verlinkt werden |
32 | // + Software LICENSING TERMS |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 25 | // + Benutzung auf eigene Gefahr |
- | |
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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 |
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| 29 | // + mit unserer Zustimmung zulässig |
37 | // + The Software may only be used with the Licensor's products. |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| 34 | // + this list of conditions and the following disclaimer. |
40 | // + agreement shall be the property of the Licensor. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| 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 |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
| 38 | // + for non-commercial use (directly or indirectly) |
43 | // + The customer shall be responsible for taking reasonable precautions |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| 40 | // + with our written permission |
- | |
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| 42 | // + clearly linked as origin |
- | |
| 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| 44 | // |
- | |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
- | |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
- | |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + #### END OF LICENSING TERMS #### |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
- | |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | 56 | ||
| 58 | #include <string.h> |
57 | #include <string.h> |
| 59 | #include <math.h> |
58 | #include <math.h> |
| 60 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
| 61 | #include "led.h" |
60 | #include "led.h" |
| 62 | #include "gps.h" |
61 | #include "gps.h" |
| 63 | #include "uart1.h" |
62 | #include "uart1.h" |
| 64 | #include "spi_slave.h" |
63 | #include "spi_slave.h" |
| 65 | #include "compass.h" |
64 | #include "compass.h" |
| 66 | #include "timer1.h" |
65 | #include "timer1.h" |
| 67 | #include "timer2.h" |
66 | #include "timer2.h" |
| 68 | #include "config.h" |
67 | #include "config.h" |
| 69 | #include "main.h" |
68 | #include "main.h" |
| 70 | #include "compass.h" |
69 | #include "compass.h" |
| 71 | #include "params.h" |
70 | #include "params.h" |
| 72 | 71 | ||
| 73 | #define SPI_RXSYNCBYTE1 0xAA |
72 | #define SPI_RXSYNCBYTE1 0xAA |
| 74 | #define SPI_RXSYNCBYTE2 0x83 |
73 | #define SPI_RXSYNCBYTE2 0x83 |
| 75 | #define SPI_TXSYNCBYTE1 0x81 |
74 | #define SPI_TXSYNCBYTE1 0x81 |
| 76 | #define SPI_TXSYNCBYTE2 0x55 |
75 | #define SPI_TXSYNCBYTE2 0x55 |
| 77 | 76 | ||
| 78 | //communication packets |
77 | //communication packets |
| 79 | FromFlightCtrl_t FromFlightCtrl; |
78 | FromFlightCtrl_t FromFlightCtrl; |
| 80 | ToFlightCtrl_t ToFlightCtrl; |
79 | ToFlightCtrl_t ToFlightCtrl; |
| 81 | #define SPI0_TIMEOUT 500 // 500ms |
80 | #define SPI0_TIMEOUT 500 // 500ms |
| 82 | volatile u32 SPI0_Timeout = 0; |
81 | volatile u32 SPI0_Timeout = 0; |
| 83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
82 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
| 84 | 83 | ||
| 85 | // tx packet buffer |
84 | // tx packet buffer |
| 86 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
85 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
| 87 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
86 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
| 88 | volatile u8 SPI_TxBufferIndex = 0; |
87 | volatile u8 SPI_TxBufferIndex = 0; |
| 89 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
88 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
| 90 | 89 | ||
| 91 | // rx packet buffer |
90 | // rx packet buffer |
| 92 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
91 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
| 93 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
92 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
| 94 | volatile u8 SPI_RxBufferIndex = 0; |
93 | volatile u8 SPI_RxBufferIndex = 0; |
| 95 | volatile u8 SPI_RxBuffer_Request = 0; |
94 | volatile u8 SPI_RxBuffer_Request = 0; |
| 96 | #define SPI_COMMAND_INDEX 0 |
95 | #define SPI_COMMAND_INDEX 0 |
| 97 | 96 | ||
| 98 | s32 Kalman_K = 32; |
97 | s32 Kalman_K = 32; |
| 99 | s32 Kalman_MaxDrift = 5 * 16; |
98 | s32 Kalman_MaxDrift = 5 * 16; |
| 100 | s32 Kalman_MaxFusion = 64; |
99 | s32 Kalman_MaxFusion = 64; |
| 101 | s32 Kalman_Kompass = 32; |
100 | s32 Kalman_Kompass = 32; |
| 102 | s32 ToFcGpsZ = 0; |
101 | s32 ToFcGpsZ = 0; |
| 103 | 102 | ||
| 104 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN }; |
103 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN }; |
| 105 | u8 SPI_CommandCounter = 0; |
104 | u8 SPI_CommandCounter = 0; |
| 106 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
105 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| 107 | s32 HeadFreeStartAngle = 0; |
106 | s32 HeadFreeStartAngle = 0; |
| 108 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
107 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
| 109 | u32 ToFC_AltitudeRate = 0; |
108 | u32 ToFC_AltitudeRate = 0; |
| 110 | s32 ToFC_AltitudeSetpoint = 0; |
109 | s32 ToFC_AltitudeSetpoint = 0; |
| 111 | u8 FromFC_VarioCharacter = ' '; |
110 | u8 FromFC_VarioCharacter = ' '; |
| 112 | u8 GPS_Aid_StickMultiplikator = 0; |
111 | u8 GPS_Aid_StickMultiplikator = 0; |
| 113 | u8 NC_GPS_ModeCharacter = ' '; |
112 | u8 NC_GPS_ModeCharacter = ' '; |
| 114 | u8 FCCalibActive = 0; |
113 | u8 FCCalibActive = 0; |
| 115 | u8 FC_is_Calibrated = 0; |
114 | u8 FC_is_Calibrated = 0; |
| 116 | Motor_t Motor[12]; |
115 | Motor_t Motor[12]; |
| 117 | u8 NC_To_FC_Flags = 0; |
116 | u8 NC_To_FC_Flags = 0; |
| 118 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
117 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
| 119 | u32 FC_I2C_ErrorConter; |
118 | u32 FC_I2C_ErrorConter; |
| 120 | SPI_Version_t FC_Version; |
119 | SPI_Version_t FC_Version; |
| 121 | s16 POI_KameraNick = 0; |
120 | s16 POI_KameraNick = 0; |
| 122 | 121 | ||
| 123 | //-------------------------------------------------------------- |
122 | //-------------------------------------------------------------- |
| 124 | void SSP0_IRQHandler(void) |
123 | void SSP0_IRQHandler(void) |
| 125 | { |
124 | { |
| 126 | static u8 rxchksum = 0; |
125 | static u8 rxchksum = 0; |
| 127 | u8 rxdata; |
126 | u8 rxdata; |
| 128 | 127 | ||
| 129 | #define SPI_SYNC1 0 |
128 | #define SPI_SYNC1 0 |
| 130 | #define SPI_SYNC2 1 |
129 | #define SPI_SYNC2 1 |
| 131 | #define SPI_DATA 2 |
130 | #define SPI_DATA 2 |
| 132 | static u8 SPI_State = SPI_SYNC1; |
131 | static u8 SPI_State = SPI_SYNC1; |
| 133 | 132 | ||
| 134 | IENABLE; |
133 | IENABLE; |
| 135 | 134 | ||
| 136 | // clear pending bits |
135 | // clear pending bits |
| 137 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
136 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 138 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
137 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| 139 | 138 | ||
| 140 | // while RxFIFO not empty |
139 | // while RxFIFO not empty |
| 141 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
140 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
| 142 | { |
141 | { |
| 143 | rxdata = SSP0->DR; // catch the received byte |
142 | rxdata = SSP0->DR; // catch the received byte |
| 144 | // Fill TxFIFO while its not full or end of packet is reached |
143 | // Fill TxFIFO while its not full or end of packet is reached |
| 145 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
144 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| 146 | { |
145 | { |
| 147 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
146 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| 148 | { |
147 | { |
| 149 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
148 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| 150 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
149 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| 151 | SPI_TxBufferIndex++; // pointer to next byte |
150 | SPI_TxBufferIndex++; // pointer to next byte |
| 152 | } |
151 | } |
| 153 | else // end of packet is reached reset and copy data to tx buffer |
152 | else // end of packet is reached reset and copy data to tx buffer |
| 154 | { |
153 | { |
| 155 | SPI_TxBufferIndex = 0; // reset buffer index |
154 | SPI_TxBufferIndex = 0; // reset buffer index |
| 156 | ToFlightCtrl.Chksum = 0; // initialize checksum |
155 | ToFlightCtrl.Chksum = 0; // initialize checksum |
| 157 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
156 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
| 158 | BeepTime = 0; // reset local beeptime |
157 | BeepTime = 0; // reset local beeptime |
| 159 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
158 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
| 160 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
159 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 161 | } |
160 | } |
| 162 | } |
161 | } |
| 163 | switch (SPI_State) |
162 | switch (SPI_State) |
| 164 | { |
163 | { |
| 165 | case SPI_SYNC1: |
164 | case SPI_SYNC1: |
| 166 | SPI_RxBufferIndex = 0; // reset buffer index |
165 | SPI_RxBufferIndex = 0; // reset buffer index |
| 167 | rxchksum = rxdata; // init checksum |
166 | rxchksum = rxdata; // init checksum |
| 168 | if (rxdata == SPI_RXSYNCBYTE1) |
167 | if (rxdata == SPI_RXSYNCBYTE1) |
| 169 | { // 1st syncbyte ok |
168 | { // 1st syncbyte ok |
| 170 | SPI_State = SPI_SYNC2; // step to sync2 |
169 | SPI_State = SPI_SYNC2; // step to sync2 |
| 171 | } |
170 | } |
| 172 | break; |
171 | break; |
| 173 | case SPI_SYNC2: |
172 | case SPI_SYNC2: |
| 174 | if (rxdata == SPI_RXSYNCBYTE2) |
173 | if (rxdata == SPI_RXSYNCBYTE2) |
| 175 | { // 2nd Syncbyte ok |
174 | { // 2nd Syncbyte ok |
| 176 | rxchksum += rxdata; |
175 | rxchksum += rxdata; |
| 177 | SPI_State = SPI_DATA; |
176 | SPI_State = SPI_DATA; |
| 178 | } // 2nd Syncbyte does not match |
177 | } // 2nd Syncbyte does not match |
| 179 | else |
178 | else |
| 180 | { |
179 | { |
| 181 | SPI_State = SPI_SYNC1; //jump back to sync1 |
180 | SPI_State = SPI_SYNC1; //jump back to sync1 |
| 182 | } |
181 | } |
| 183 | break; |
182 | break; |
| 184 | case SPI_DATA: |
183 | case SPI_DATA: |
| 185 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
184 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
| 186 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
185 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
| 187 | { |
186 | { |
| 188 | if (rxdata == rxchksum) // verify checksum byte |
187 | if (rxdata == rxchksum) // verify checksum byte |
| 189 | { |
188 | { |
| 190 | // copy SPI_RxBuffer -> FromFlightCtrl |
189 | // copy SPI_RxBuffer -> FromFlightCtrl |
| 191 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
190 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
| 192 | { |
191 | { |
| 193 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
192 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
| 194 | SPI_RxBuffer_Request = 1; |
193 | SPI_RxBuffer_Request = 1; |
| 195 | } |
194 | } |
| 196 | // reset timeout counter on good packet |
195 | // reset timeout counter on good packet |
| 197 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
196 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
| 198 | DebugOut.Analog[13]++; |
197 | DebugOut.Analog[13]++; |
| 199 | } |
198 | } |
| 200 | else // bad checksum byte |
199 | else // bad checksum byte |
| 201 | { |
200 | { |
| 202 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
201 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
| 203 | } |
202 | } |
| 204 | SPI_State = SPI_SYNC1; // reset state |
203 | SPI_State = SPI_SYNC1; // reset state |
| 205 | } |
204 | } |
| 206 | else // end of packet not reached |
205 | else // end of packet not reached |
| 207 | { |
206 | { |
| 208 | rxchksum += rxdata; // update checksum |
207 | rxchksum += rxdata; // update checksum |
| 209 | } |
208 | } |
| 210 | break; |
209 | break; |
| 211 | default: |
210 | default: |
| 212 | SPI_State = SPI_SYNC1; |
211 | SPI_State = SPI_SYNC1; |
| 213 | break; |
212 | break; |
| 214 | } |
213 | } |
| 215 | } |
214 | } |
| 216 | 215 | ||
| 217 | IDISABLE; |
216 | IDISABLE; |
| 218 | } |
217 | } |
| 219 | 218 | ||
| 220 | //-------------------------------------------------------------- |
219 | //-------------------------------------------------------------- |
| 221 | void SPI0_Init(void) |
220 | void SPI0_Init(void) |
| 222 | { |
221 | { |
| 223 | GPIO_InitTypeDef GPIO_InitStructure; |
222 | GPIO_InitTypeDef GPIO_InitStructure; |
| 224 | SSP_InitTypeDef SSP_InitStructure; |
223 | SSP_InitTypeDef SSP_InitStructure; |
| 225 | 224 | ||
| 226 | UART1_PutString("\r\n SPI init..."); |
225 | UART1_PutString("\r\n SPI init..."); |
| 227 | 226 | ||
| 228 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
227 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| 229 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
228 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
| 230 | 229 | ||
| 231 | GPIO_DeInit(GPIO2); |
230 | GPIO_DeInit(GPIO2); |
| 232 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
231 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
| 233 | GPIO_StructInit(&GPIO_InitStructure); |
232 | GPIO_StructInit(&GPIO_InitStructure); |
| 234 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
233 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| 235 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
234 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
| 236 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
235 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| 237 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
236 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 238 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
237 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
| 239 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
238 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
| 240 | 239 | ||
| 241 | // SSP0_MISO pin GPIO2.6 |
240 | // SSP0_MISO pin GPIO2.6 |
| 242 | GPIO_StructInit(&GPIO_InitStructure); |
241 | GPIO_StructInit(&GPIO_InitStructure); |
| 243 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
242 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| 244 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
243 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
| 245 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
244 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| 246 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
245 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 247 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
246 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
| 248 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
247 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
| 249 | 248 | ||
| 250 | SSP_DeInit(SSP0); |
249 | SSP_DeInit(SSP0); |
| 251 | SSP_StructInit(&SSP_InitStructure); |
250 | SSP_StructInit(&SSP_InitStructure); |
| 252 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
251 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
| 253 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
252 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
| 254 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
253 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
| 255 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
254 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
| 256 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
255 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
| 257 | SSP_InitStructure.SSP_ClockRate = 0; |
256 | SSP_InitStructure.SSP_ClockRate = 0; |
| 258 | 257 | ||
| 259 | SSP_Init(SSP0, &SSP_InitStructure); |
258 | SSP_Init(SSP0, &SSP_InitStructure); |
| 260 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
259 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
| 261 | 260 | ||
| 262 | SSP_Cmd(SSP0, ENABLE); |
261 | SSP_Cmd(SSP0, ENABLE); |
| 263 | // initialize the syncbytes in the tx buffer |
262 | // initialize the syncbytes in the tx buffer |
| 264 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
263 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
| 265 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
264 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
| 266 | // set the pointer to the checksum byte in the tx buffer |
265 | // set the pointer to the checksum byte in the tx buffer |
| 267 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
266 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
| 268 | 267 | ||
| 269 | ToFlightCtrl.GPSStick.Nick = 0; |
268 | ToFlightCtrl.GPSStick.Nick = 0; |
| 270 | ToFlightCtrl.GPSStick.Roll = 0; |
269 | ToFlightCtrl.GPSStick.Roll = 0; |
| 271 | ToFlightCtrl.GPSStick.Yaw = 0; |
270 | ToFlightCtrl.GPSStick.Yaw = 0; |
| 272 | 271 | ||
| 273 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
272 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| 274 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
273 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 275 | 274 | ||
| 276 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
275 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
| 277 | 276 | ||
| 278 | UART1_PutString("ok"); |
277 | UART1_PutString("ok"); |
| 279 | } |
278 | } |
| 280 | 279 | ||
| 281 | 280 | ||
| 282 | //------------------------------------------------------ |
281 | //------------------------------------------------------ |
| 283 | void SPI0_UpdateBuffer(void) |
282 | void SPI0_UpdateBuffer(void) |
| 284 | { |
283 | { |
| 285 | static u32 timeout = 0; |
284 | static u32 timeout = 0; |
| 286 | static u8 counter = 50,hott_index = 0; |
285 | static u8 counter = 50,hott_index = 0; |
| 287 | static u8 CompassCalState = 0; |
286 | static u8 CompassCalState = 0; |
| 288 | s16 tmp; |
287 | s16 tmp; |
| 289 | s32 i1,i2; |
288 | s32 i1,i2; |
| 290 | 289 | ||
| 291 | if (SPI_RxBuffer_Request) |
290 | if (SPI_RxBuffer_Request) |
| 292 | { |
291 | { |
| 293 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
292 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
| 294 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
293 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
| 295 | ToFlightCtrl.CompassHeading = Compass_Heading; |
294 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| 296 | 295 | ||
| 297 | //ToFlightCtrl.CompassHeading += 360 + ((s32) Poti8 - 128); |
296 | //ToFlightCtrl.CompassHeading += 360 + ((s32) Poti8 - 128); |
| 298 | //ToFlightCtrl.CompassHeading %= 360; |
297 | //ToFlightCtrl.CompassHeading %= 360; |
| 299 | 298 | ||
| 300 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
299 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 301 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
300 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 302 | // ToFlightCtrl.MagVecX = MagVector.X; |
301 | // ToFlightCtrl.MagVecX = MagVector.X; |
| 303 | // ToFlightCtrl.MagVecY = MagVector.Y; |
302 | // ToFlightCtrl.MagVecY = MagVector.Y; |
| 304 | ToFlightCtrl.MagVecZ = MagVector.Z; |
303 | ToFlightCtrl.MagVecZ = MagVector.Z; |
| 305 | ToFlightCtrl.NCStatus = 0; |
304 | ToFlightCtrl.NCStatus = 0; |
| 306 | // cycle spi commands |
305 | // cycle spi commands |
| 307 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
306 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 308 | // restart command cycle at the end |
307 | // restart command cycle at the end |
| 309 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
308 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 310 | #define FLAG_GPS_AID 0x01 |
309 | #define FLAG_GPS_AID 0x01 |
| 311 | switch (ToFlightCtrl.Command) |
310 | switch (ToFlightCtrl.Command) |
| 312 | { |
311 | { |
| 313 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
312 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
| 314 | CalcHeadFree(); |
313 | CalcHeadFree(); |
| 315 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
314 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| 316 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
315 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| 317 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
316 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
| 318 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
317 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
| 319 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
318 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 320 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
319 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 321 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
320 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 322 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
321 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
| 323 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
322 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
| 324 | { |
323 | { |
| 325 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
324 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
| 326 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
325 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
| 327 | } |
326 | } |
| 328 | else |
327 | else |
| 329 | { |
328 | { |
| 330 | ToFlightCtrl.Param.sInt[4] = -1; |
329 | ToFlightCtrl.Param.sInt[4] = -1; |
| 331 | } |
330 | } |
| 332 | 331 | ||
| 333 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
332 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
| 334 | { |
333 | { |
| 335 | POI_KameraNick = tmp; |
334 | POI_KameraNick = tmp; |
| 336 | } |
335 | } |
| 337 | else |
336 | else |
| 338 | { |
337 | { |
| 339 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
338 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
| 340 | POI_KameraNick = CAM_Orientation.Elevation; |
339 | POI_KameraNick = CAM_Orientation.Elevation; |
| 341 | //else ToFlightCtrl.Param.sInt[5] = 0; |
340 | //else ToFlightCtrl.Param.sInt[5] = 0; |
| 342 | } |
341 | } |
| 343 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
342 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
| 344 | break; |
343 | break; |
| 345 | 344 | ||
| 346 | case SPI_NCCMD_VERSION: |
345 | case SPI_NCCMD_VERSION: |
| 347 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
346 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 348 | //+ higher than the maximum allowed altitude |
347 | //+ higher than the maximum allowed altitude |
| 349 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
348 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 350 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
349 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
| 351 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
350 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
| 352 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
351 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| 353 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
352 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| 354 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
353 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
| 355 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
354 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
| 356 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
355 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
| 357 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
356 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
| 358 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
357 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
| 359 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
358 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
| 360 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
359 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
| 361 | if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
360 | if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
| 362 | else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
361 | else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
| 363 | break; |
362 | break; |
| 364 | case SPI_MISC: |
363 | case SPI_MISC: |
| 365 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
364 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
| 366 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
365 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
| 367 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
366 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
| 368 | ToFlightCtrl.Param.Byte[3] = 0; |
367 | ToFlightCtrl.Param.Byte[3] = 0; |
| 369 | ToFlightCtrl.Param.Byte[4] = 0; |
368 | ToFlightCtrl.Param.Byte[4] = 0; |
| 370 | ToFlightCtrl.Param.Byte[5] = 0; |
369 | ToFlightCtrl.Param.Byte[5] = 0; |
| 371 | ToFlightCtrl.Param.Byte[6] = 0; |
370 | ToFlightCtrl.Param.Byte[6] = 0; |
| 372 | ToFlightCtrl.Param.Byte[7] = 0; |
371 | ToFlightCtrl.Param.Byte[7] = 0; |
| 373 | ToFlightCtrl.Param.Byte[8] = 0; |
372 | ToFlightCtrl.Param.Byte[8] = 0; |
| 374 | ToFlightCtrl.Param.Byte[9] = 0; |
373 | ToFlightCtrl.Param.Byte[9] = 0; |
| 375 | ToFlightCtrl.Param.Byte[10] = 0; |
374 | ToFlightCtrl.Param.Byte[10] = 0; |
| 376 | ToFlightCtrl.Param.Byte[11] = 0; |
375 | ToFlightCtrl.Param.Byte[11] = 0; |
| 377 | break; |
376 | break; |
| 378 | 377 | ||
| 379 | case SPI_NCCMD_GPSINFO: |
378 | case SPI_NCCMD_GPSINFO: |
| 380 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
379 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
| 381 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
380 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
| 382 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
381 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
| 383 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
382 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| 384 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
383 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
| 385 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
384 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
| 386 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
385 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
| 387 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
386 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
| 388 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
387 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
| 389 | { |
388 | { |
| 390 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
389 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
| 391 | } |
390 | } |
| 392 | else |
391 | else |
| 393 | { |
392 | { |
| 394 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
393 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
| 395 | } |
394 | } |
| 396 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
395 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
| 397 | { |
396 | { |
| 398 | ToFlightCtrl.Param.sInt[5] = tmp; |
397 | ToFlightCtrl.Param.sInt[5] = tmp; |
| 399 | } |
398 | } |
| 400 | else |
399 | else |
| 401 | { |
400 | { |
| 402 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
401 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
| 403 | } |
402 | } |
| 404 | break; |
403 | break; |
| 405 | /* |
404 | /* |
| 406 | typedef struct |
405 | typedef struct |
| 407 | { |
406 | { |
| 408 | unsigned char StartByte; //0 // 0x7C |
407 | unsigned char StartByte; //0 // 0x7C |
| 409 | unsigned char Packet_ID; //1 // 0x89 - Vario ID |
408 | unsigned char Packet_ID; //1 // 0x89 - Vario ID |
| 410 | unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
409 | unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
| 411 | unsigned char Heading; //3 // 1 = 2° |
410 | unsigned char Heading; //3 // 1 = 2° |
| 412 | unsigned int Speed; //4+5 // in km/h |
411 | unsigned int Speed; //4+5 // in km/h |
| 413 | unsigned char Lat_North; //6 |
412 | unsigned char Lat_North; //6 |
| 414 | unsigned char Lat_G; //7 |
413 | unsigned char Lat_G; //7 |
| 415 | unsigned char Lat_M; //8 |
414 | unsigned char Lat_M; //8 |
| 416 | unsigned char Lat_Sek1; //9 |
415 | unsigned char Lat_Sek1; //9 |
| 417 | unsigned char Lat_Sek2; //10 |
416 | unsigned char Lat_Sek2; //10 |
| 418 | unsigned char Lon_East; //11 |
417 | unsigned char Lon_East; //11 |
| 419 | unsigned char Lon_G; //12 |
418 | unsigned char Lon_G; //12 |
| 420 | unsigned char Lon_M; //13 |
419 | unsigned char Lon_M; //13 |
| 421 | unsigned char Lon_Sek1; //14 |
420 | unsigned char Lon_Sek1; //14 |
| 422 | unsigned char Lon_Sek2; //15 |
421 | unsigned char Lon_Sek2; //15 |
| 423 | unsigned int Distance; //16+17 // 9000 = 0m |
422 | unsigned int Distance; //16+17 // 9000 = 0m |
| 424 | unsigned int Altitude; //18+19 // 500 = 0m |
423 | unsigned int Altitude; //18+19 // 500 = 0m |
| 425 | unsigned int m_sec; //20+21 // 3000 = 0 |
424 | unsigned int m_sec; //20+21 // 3000 = 0 |
| 426 | unsigned int m_3sec; //22+23 // 3000 = 0 |
425 | unsigned int m_3sec; //22+23 // 3000 = 0 |
| 427 | unsigned int m_10sec; //24+25 // 3000 = 0 |
426 | unsigned int m_10sec; //24+25 // 3000 = 0 |
| 428 | unsigned char NullByte; // 0x00 |
427 | unsigned char NullByte; // 0x00 |
| 429 | unsigned char NullByte1; // 0x00 |
428 | unsigned char NullByte1; // 0x00 |
| 430 | unsigned char EndByte; // 0x7D |
429 | unsigned char EndByte; // 0x7D |
| 431 | } GPSPacket_t; |
430 | } GPSPacket_t; |
| 432 | */ |
431 | */ |
| 433 | /* |
432 | /* |
| 434 | typedef struct |
433 | typedef struct |
| 435 | { |
434 | { |
| 436 | unsigned char StartByte; //0 0x7C |
435 | unsigned char StartByte; //0 0x7C |
| 437 | unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID |
436 | unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID |
| 438 | unsigned char WarnBeep; //2 Anzahl der Töne 0..36 |
437 | unsigned char WarnBeep; //2 Anzahl der Töne 0..36 |
| 439 | unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert) |
438 | unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert) |
| 440 | unsigned char VoltageCell2; //4 |
439 | unsigned char VoltageCell2; //4 |
| 441 | unsigned char VoltageCell3; //5 |
440 | unsigned char VoltageCell3; //5 |
| 442 | unsigned char VoltageCell4; //6 |
441 | unsigned char VoltageCell4; //6 |
| 443 | unsigned char VoltageCell5; //7 |
442 | unsigned char VoltageCell5; //7 |
| 444 | unsigned char VoltageCell6; //8 |
443 | unsigned char VoltageCell6; //8 |
| 445 | unsigned int Battery1; //9 51 = 5,1V |
444 | unsigned int Battery1; //9 51 = 5,1V |
| 446 | unsigned int Battery2; //11 51 = 5,1V |
445 | unsigned int Battery2; //11 51 = 5,1V |
| 447 | unsigned char Temperature1; //13 44 = 24°C, 0 = -20°C |
446 | unsigned char Temperature1; //13 44 = 24°C, 0 = -20°C |
| 448 | unsigned char Temperature2; //14 44 = 24°C, 0 = -20°C |
447 | unsigned char Temperature2; //14 44 = 24°C, 0 = -20°C |
| 449 | unsigned char FuelPercent; //15 |
448 | unsigned char FuelPercent; //15 |
| 450 | signed int FuelCapacity; //16 |
449 | signed int FuelCapacity; //16 |
| 451 | unsigned int Rpm; |
450 | unsigned int Rpm; |
| 452 | unsigned int Altitude; |
451 | unsigned int Altitude; |
| 453 | unsigned int m_sec; // 3000 = 0 |
452 | unsigned int m_sec; // 3000 = 0 |
| 454 | unsigned char m_3sec; // 120 = 0 |
453 | unsigned char m_3sec; // 120 = 0 |
| 455 | unsigned int Current; // 1 = 0.1A |
454 | unsigned int Current; // 1 = 0.1A |
| 456 | unsigned int InputVoltage; // 66 = 6,6V |
455 | unsigned int InputVoltage; // 66 = 6,6V |
| 457 | unsigned int Capacity; // 1 = 10mAh |
456 | unsigned int Capacity; // 1 = 10mAh |
| 458 | unsigned char NullByte1; // 0x00 |
457 | unsigned char NullByte1; // 0x00 |
| 459 | unsigned char NullByte2; // 0x00 |
458 | unsigned char NullByte2; // 0x00 |
| 460 | unsigned char EndByte; // 0x7D |
459 | unsigned char EndByte; // 0x7D |
| 461 | } HoTTGeneral_t; |
460 | } HoTTGeneral_t; |
| 462 | */ |
461 | */ |
| 463 | case SPI_NCCMD_HOTT_INFO: |
462 | case SPI_NCCMD_HOTT_INFO: |
| 464 | switch(hott_index++) |
463 | switch(hott_index++) |
| 465 | { |
464 | { |
| 466 | case 0: |
465 | case 0: |
| 467 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
466 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
| 468 | //53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
467 | //53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
| 469 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
468 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
| 470 | ToFlightCtrl.Param.Byte[0] = 3; // index |
469 | ToFlightCtrl.Param.Byte[0] = 3; // index |
| 471 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
470 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
| 472 | //----------------------------- |
471 | //----------------------------- |
| 473 | ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2; |
472 | ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2; |
| 474 | i1 = GPSData.Speed_Ground; // in cm/sec |
473 | i1 = GPSData.Speed_Ground; // in cm/sec |
| 475 | i1 *= 36; |
474 | i1 *= 36; |
| 476 | i1 /= 1000; |
475 | i1 /= 1000; |
| 477 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
476 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
| 478 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
477 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
| 479 | //----------------------------- |
478 | //----------------------------- |
| 480 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S |
479 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S |
| 481 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
480 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
| 482 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
481 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
| 483 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
482 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
| 484 | i1 *= 100; |
483 | i1 *= 100; |
| 485 | i1 += i2 / 100000; |
484 | i1 += i2 / 100000; |
| 486 | i2 = i2 % 100000; |
485 | i2 = i2 % 100000; |
| 487 | i2 /= 10; |
486 | i2 /= 10; |
| 488 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
487 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
| 489 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
488 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
| 490 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
489 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
| 491 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
490 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
| 492 | break; |
491 | break; |
| 493 | case 1: |
492 | case 1: |
| 494 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
493 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
| 495 | ToFlightCtrl.Param.Byte[0] = 11; // index |
494 | ToFlightCtrl.Param.Byte[0] = 11; // index |
| 496 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
495 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
| 497 | //----------------------------- |
496 | //----------------------------- |
| 498 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
497 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
| 499 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
498 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
| 500 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
499 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
| 501 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
500 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
| 502 | i1 *= 100; |
501 | i1 *= 100; |
| 503 | i1 += i2 / 100000; |
502 | i1 += i2 / 100000; |
| 504 | i2 = i2 % 100000; |
503 | i2 = i2 % 100000; |
| 505 | i2 /= 10; |
504 | i2 /= 10; |
| 506 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
505 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
| 507 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
506 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
| 508 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
507 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
| 509 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
508 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
| 510 | //----------------------------- |
509 | //----------------------------- |
| 511 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
510 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
| 512 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
511 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
| 513 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
512 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
| 514 | break; |
513 | break; |
| 515 | case 2: |
514 | case 2: |
| 516 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
515 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
| 517 | ToFlightCtrl.Param.Byte[0] = 5; // index |
516 | ToFlightCtrl.Param.Byte[0] = 5; // index |
| 518 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
517 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
| 519 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
518 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
| 520 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
519 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
| 521 | hott_index = 0; |
520 | hott_index = 0; |
| 522 | break; |
521 | break; |
| 523 | default: |
522 | default: |
| 524 | ToFlightCtrl.Param.Byte[0] = 255; |
523 | ToFlightCtrl.Param.Byte[0] = 255; |
| 525 | hott_index = 0; |
524 | hott_index = 0; |
| 526 | break; |
525 | break; |
| 527 | } |
526 | } |
| 528 | break; |
527 | break; |
| 529 | default: |
528 | default: |
| 530 | break; |
529 | break; |
| 531 | // 0 = 0,1 |
530 | // 0 = 0,1 |
| 532 | // 1 = 2,3 |
531 | // 1 = 2,3 |
| 533 | // 2 = 4,5 |
532 | // 2 = 4,5 |
| 534 | // 3 = 6,7 |
533 | // 3 = 6,7 |
| 535 | // 4 = 8,9 |
534 | // 4 = 8,9 |
| 536 | // 5 = 10,11 |
535 | // 5 = 10,11 |
| 537 | } |
536 | } |
| 538 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
537 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
| 539 | 538 | ||
| 540 | switch(FromFlightCtrl.Command) |
539 | switch(FromFlightCtrl.Command) |
| 541 | { |
540 | { |
| 542 | case SPI_FCCMD_USER: |
541 | case SPI_FCCMD_USER: |
| 543 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
542 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| 544 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
543 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
| 545 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
544 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
| 546 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
545 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
| 547 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
546 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
| 548 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
547 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
| 549 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
548 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
| 550 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
549 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
| 551 | if(ClearFCStatusFlags) |
550 | if(ClearFCStatusFlags) |
| 552 | { |
551 | { |
| 553 | FC.StatusFlags = 0; |
552 | FC.StatusFlags = 0; |
| 554 | ClearFCStatusFlags = 0; |
553 | ClearFCStatusFlags = 0; |
| 555 | } |
554 | } |
| 556 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
555 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
| 557 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
556 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
| 558 | { |
557 | { |
| 559 | HeadFreeStartAngle = Compass_Heading * 10; |
558 | HeadFreeStartAngle = Compass_Heading * 10; |
| 560 | Compass_Init(); |
559 | Compass_Init(); |
| 561 | FCCalibActive = 10; |
560 | FCCalibActive = 10; |
| 562 | FC_is_Calibrated = 0; |
561 | FC_is_Calibrated = 0; |
| 563 | } |
562 | } |
| 564 | else |
563 | else |
| 565 | { |
564 | { |
| 566 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
565 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
| 567 | } |
566 | } |
| 568 | if(FC.StatusFlags & FC_STATUS_START) |
567 | if(FC.StatusFlags & FC_STATUS_START) |
| 569 | { |
568 | { |
| 570 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
569 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
| 571 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
570 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
| 572 | } |
571 | } |
| 573 | 572 | ||
| 574 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
573 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
| 575 | { |
574 | { |
| 576 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
575 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
| 577 | { |
576 | { |
| 578 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
577 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
| 579 | { |
578 | { |
| 580 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
579 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
| 581 | } |
580 | } |
| 582 | else // Ansonsten die aktuelle Richtung übernehmen |
581 | else // Ansonsten die aktuelle Richtung übernehmen |
| 583 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
582 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
| 584 | } |
583 | } |
| 585 | } |
584 | } |
| 586 | 585 | ||
| 587 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
586 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
| 588 | 587 | ||
| 589 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
588 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 590 | DebugOut.Analog[5] = FC.StatusFlags; |
589 | DebugOut.Analog[5] = FC.StatusFlags; |
| 591 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
- | |
| 592 | NaviData.FCStatusFlags = FC.StatusFlags; |
590 | NaviData.FCStatusFlags = FC.StatusFlags; |
| 593 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
591 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
| - | 592 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
|
| - | 593 | ||
| - | 594 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
|
| - | 595 | else |
|
| - | 596 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
|
| - | 597 | ||
| - | 598 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
|
| - | 599 | else |
|
| - | 600 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
|
| - | 601 | ||
| 594 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
602 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
| 595 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
603 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
| 596 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
604 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
| 597 | break; |
605 | break; |
| 598 | 606 | ||
| 599 | case SPI_FCCMD_ACCU: |
607 | case SPI_FCCMD_ACCU: |
| 600 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
608 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
| 601 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
609 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
| 602 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
610 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
| 603 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
611 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
| 604 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
612 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
| 605 | Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
613 | Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
| 606 | Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9]; |
614 | Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9]; |
| 607 | Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10]; |
615 | Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10]; |
| 608 | Motor[FromFlightCtrl.Param.Byte[7]].Current = FromFlightCtrl.Param.Byte[11]; |
616 | Motor[FromFlightCtrl.Param.Byte[7]].Current = FromFlightCtrl.Param.Byte[11]; |
| 609 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
617 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
| 610 | { |
618 | { |
| 611 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
619 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
| 612 | } |
620 | } |
| 613 | NaviData.UBat = FC.BAT_Voltage; |
621 | NaviData.UBat = FC.BAT_Voltage; |
| 614 | NaviData.Current = FC.BAT_Current; |
622 | NaviData.Current = FC.BAT_Current; |
| 615 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
623 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
| 616 | break; |
624 | break; |
| 617 | 625 | ||
| 618 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
626 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
| 619 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
627 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
| 620 | 628 | ||
| 621 | case SPI_FCCMD_PARAMETER1: |
629 | case SPI_FCCMD_PARAMETER1: |
| 622 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
630 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
| 623 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
631 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
| 624 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
632 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
| 625 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
633 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
| 626 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
634 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
| 627 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
635 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
| 628 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
636 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
| 629 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
637 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
| 630 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
638 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| 631 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
639 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 632 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
640 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
| 633 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
641 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
| 634 | break; |
642 | break; |
| 635 | 643 | ||
| 636 | case SPI_FCCMD_STICK: |
644 | case SPI_FCCMD_STICK: |
| 637 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
645 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| 638 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
646 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
| 639 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
647 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
| 640 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
648 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
| 641 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
649 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
| 642 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
650 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
| 643 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
651 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
| 644 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
652 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
| 645 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
653 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
| 646 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
654 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
| 647 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
655 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
| 648 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
656 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
| 649 | break; |
657 | break; |
| 650 | 658 | ||
| 651 | case SPI_FCCMD_MISC: |
659 | case SPI_FCCMD_MISC: |
| 652 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
660 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| 653 | { // put only new CompassCalState into queue to send via I2C |
661 | { // put only new CompassCalState into queue to send via I2C |
| 654 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
662 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
| 655 | Compass_SetCalState(CompassCalState); |
663 | Compass_SetCalState(CompassCalState); |
| 656 | } |
664 | } |
| 657 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
665 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
| 658 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
666 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
| 659 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
667 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
| 660 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
668 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
| 661 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
669 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| 662 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
670 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
| 663 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
671 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
| 664 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
672 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| 665 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
673 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
| 666 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
674 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
| 667 | // NaviData.RC_RSSI = FC.RC_RSSI; |
675 | // NaviData.RC_RSSI = FC.RC_RSSI; |
| 668 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
676 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
| 669 | break; |
677 | break; |
| 670 | 678 | ||
| 671 | case SPI_FCCMD_SERVOS: |
679 | case SPI_FCCMD_SERVOS: |
| 672 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
680 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
| 673 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
681 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
| 674 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
682 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
| 675 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
683 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
| 676 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
684 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
| 677 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
685 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
| 678 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
686 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
| 679 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
687 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
| 680 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
688 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
| 681 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
689 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
| 682 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
690 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
| 683 | break; |
691 | break; |
| 684 | 692 | ||
| 685 | case SPI_FCCMD_VERSION: |
693 | case SPI_FCCMD_VERSION: |
| 686 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
694 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 687 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
695 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
| 688 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
696 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
| 689 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
697 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
| 690 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
698 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
| 691 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
699 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
| 692 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
700 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
| 693 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
701 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
| 694 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
702 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
| 695 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
703 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
| 696 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
704 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
| 697 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
705 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
| 698 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
706 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
| 699 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
707 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
| 700 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
708 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
| 701 | else DebugOut.StatusRed &= ~AMPEL_FC; |
709 | else DebugOut.StatusRed &= ~AMPEL_FC; |
| 702 | break; |
710 | break; |
| 703 | default: |
711 | default: |
| 704 | break; |
712 | break; |
| 705 | } |
713 | } |
| 706 | 714 | ||
| 707 | /* |
715 | /* |
| 708 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
716 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 709 | */ |
717 | */ |
| 710 | // every time we got new data from the FC via SPI call the navigation routine |
718 | // every time we got new data from the FC via SPI call the navigation routine |
| 711 | // and update GPSStick that are returned to FC |
719 | // and update GPSStick that are returned to FC |
| 712 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
720 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
| 713 | ClearFCStatusFlags = 1; |
721 | ClearFCStatusFlags = 1; |
| 714 | 722 | ||
| 715 | if(counter) |
723 | if(counter) |
| 716 | { |
724 | { |
| 717 | counter--; // count down to enable servo |
725 | counter--; // count down to enable servo |
| 718 | if(!counter) TIMER2_Init(); // enable Servo Output |
726 | if(!counter) TIMER2_Init(); // enable Servo Output |
| 719 | } |
727 | } |
| 720 | 728 | ||
| 721 | SPI_RxBuffer_Request = 0; |
729 | SPI_RxBuffer_Request = 0; |
| 722 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
730 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
| 723 | 731 | ||
| 724 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
732 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| 725 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
733 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
| 726 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
734 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
| 727 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
735 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
| 728 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
736 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
| 729 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
737 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
| 730 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
738 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
| 731 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
739 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
| 732 | } // EOF if(SPI_RxBuffer_Request) |
740 | } // EOF if(SPI_RxBuffer_Request) |
| 733 | else // no new SPI data |
741 | else // no new SPI data |
| 734 | { |
742 | { |
| 735 | if(CheckDelay(timeout) && (counter == 0)) |
743 | if(CheckDelay(timeout) && (counter == 0)) |
| 736 | { |
744 | { |
| 737 | TIMER2_Deinit(); // disable Servo Output |
745 | TIMER2_Deinit(); // disable Servo Output |
| 738 | counter = 50; // reset counter for enabling Servo Output |
746 | counter = 50; // reset counter for enabling Servo Output |
| 739 | } |
747 | } |
| 740 | } |
748 | } |
| 741 | } |
749 | } |
| 742 | 750 | ||
| 743 | //------------------------------------------------------ |
751 | //------------------------------------------------------ |
| 744 | void SPI0_GetFlightCtrlVersion(void) |
752 | void SPI0_GetFlightCtrlVersion(void) |
| 745 | { |
753 | { |
| 746 | u32 timeout; |
754 | u32 timeout; |
| 747 | u8 repeat; |
755 | u8 repeat; |
| 748 | u8 msg[64]; |
756 | u8 msg[64]; |
| 749 | 757 | ||
| 750 | UART1_PutString("\r\n Looking for FlightControl"); |
758 | UART1_PutString("\r\n Looking for FlightControl"); |
| 751 | FC_Version.Major = 0xFF; |
759 | FC_Version.Major = 0xFF; |
| 752 | FC_Version.Minor = 0xFF; |
760 | FC_Version.Minor = 0xFF; |
| 753 | FC_Version.Patch = 0xFF; |
761 | FC_Version.Patch = 0xFF; |
| 754 | FC_Version.Compatible = 0xFF; |
762 | FC_Version.Compatible = 0xFF; |
| 755 | 763 | ||
| 756 | // polling FC version info |
764 | // polling FC version info |
| 757 | repeat = 0; |
765 | repeat = 0; |
| 758 | do |
766 | do |
| 759 | { |
767 | { |
| 760 | timeout = SetDelay(250); |
768 | timeout = SetDelay(250); |
| 761 | do |
769 | do |
| 762 | { |
770 | { |
| 763 | SPI0_UpdateBuffer(); |
771 | SPI0_UpdateBuffer(); |
| 764 | if (FC_Version.Major != 0xFF) break; |
772 | if (FC_Version.Major != 0xFF) break; |
| 765 | }while (!CheckDelay(timeout)); |
773 | }while (!CheckDelay(timeout)); |
| 766 | UART1_PutString("."); |
774 | UART1_PutString("."); |
| 767 | repeat++; |
775 | repeat++; |
| 768 | FCCalibActive = 1; |
776 | FCCalibActive = 1; |
| 769 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
777 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| 770 | // if we got it |
778 | // if we got it |
| 771 | if (FC_Version.Major != 0xFF) |
779 | if (FC_Version.Major != 0xFF) |
| 772 | { |
780 | { |
| 773 | sprintf(msg, " FC V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
781 | sprintf(msg, " FC V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
| 774 | UART1_PutString(msg); |
782 | UART1_PutString(msg); |
| 775 | } |
783 | } |
| 776 | else UART1_PutString("\n\r not found!"); |
784 | else UART1_PutString("\n\r not found!"); |
| 777 | } |
785 | } |
| 778 | 786 | ||
| 779 | 787 | ||
| 780 | 788 | ||