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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 40 | // + with our written permission |
40 | // + with our written permission |
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
| 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 44 | // |
44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | 57 | ||
| 58 | #include <string.h> |
58 | #include <string.h> |
| 59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
| 60 | #include "led.h" |
60 | #include "led.h" |
| 61 | #include "gps.h" |
61 | #include "gps.h" |
| 62 | #include "uart1.h" |
62 | #include "uart1.h" |
| 63 | #include "spi_slave.h" |
63 | #include "spi_slave.h" |
| 64 | #include "compass.h" |
64 | #include "compass.h" |
| 65 | #include "timer1.h" |
65 | #include "timer1.h" |
| 66 | #include "timer2.h" |
66 | #include "timer2.h" |
| 67 | #include "config.h" |
67 | #include "config.h" |
| 68 | #include "main.h" |
68 | #include "main.h" |
| 69 | #include "fifo.h" |
- | |
| 70 | #include "compass.h" |
69 | #include "compass.h" |
| 71 | 70 | ||
| 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 | 82 | ||
| 84 | // tx packet buffer |
83 | // tx packet buffer |
| 85 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
84 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
| 86 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
85 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
| 87 | volatile u8 SPI_TxBufferIndex = 0; |
86 | volatile u8 SPI_TxBufferIndex = 0; |
| 88 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
87 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
| 89 | 88 | ||
| 90 | // rx packet buffer |
89 | // rx packet buffer |
| 91 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
90 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
| 92 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
91 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
| 93 | volatile u8 SPI_RxBufferIndex = 0; |
92 | volatile u8 SPI_RxBufferIndex = 0; |
| 94 | volatile u8 SPI_RxBuffer_Request = 0; |
93 | volatile u8 SPI_RxBuffer_Request = 0; |
| 95 | #define SPI_COMMAND_INDEX 0 |
94 | #define SPI_COMMAND_INDEX 0 |
| 96 | volatile u8 FC_ErrorCode[5] = {0,0,0,0,0}; |
95 | volatile u8 FC_ErrorCode[5] = {0,0,0,0,0}; |
| 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 ToFcGpsZ = 0; |
100 | s32 ToFcGpsZ = 0; |
| 102 | 101 | ||
| 103 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
102 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
| 104 | u8 SPI_CommandCounter = 0; |
103 | u8 SPI_CommandCounter = 0; |
| 105 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
104 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| 106 | s32 HeadFreeStartAngle = 0; |
105 | s32 HeadFreeStartAngle = 0; |
| 107 | 106 | ||
| 108 | SPI_Version_t FC_Version; |
107 | SPI_Version_t FC_Version; |
| 109 | - | ||
| 110 | u8 CompassCalStateQueue[10]; |
- | |
| 111 | fifo_t CompassCalcStateFiFo; |
- | |
| 112 | 108 | ||
| 113 | u8 CompassCalState = 0; |
109 | |
| 114 | 110 | ||
| 115 | //-------------------------------------------------------------- |
111 | //-------------------------------------------------------------- |
| 116 | void SSP0_IRQHandler(void) |
112 | void SSP0_IRQHandler(void) |
| 117 | { |
113 | { |
| 118 | static u8 rxchksum = 0; |
114 | static u8 rxchksum = 0; |
| 119 | u8 rxdata; |
115 | u8 rxdata; |
| 120 | 116 | ||
| 121 | #define SPI_SYNC1 0 |
117 | #define SPI_SYNC1 0 |
| 122 | #define SPI_SYNC2 1 |
118 | #define SPI_SYNC2 1 |
| 123 | #define SPI_DATA 2 |
119 | #define SPI_DATA 2 |
| 124 | static u8 SPI_State = SPI_SYNC1; |
120 | static u8 SPI_State = SPI_SYNC1; |
| 125 | 121 | ||
| 126 | IENABLE; |
122 | IENABLE; |
| 127 | 123 | ||
| 128 | // clear pending bits |
124 | // clear pending bits |
| 129 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
125 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 130 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
126 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| 131 | 127 | ||
| 132 | // while RxFIFO not empty |
128 | // while RxFIFO not empty |
| 133 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
129 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
| 134 | { |
130 | { |
| 135 | rxdata = SSP0->DR; // catch the received byte |
131 | rxdata = SSP0->DR; // catch the received byte |
| 136 | // Fill TxFIFO while its not full or end of packet is reached |
132 | // Fill TxFIFO while its not full or end of packet is reached |
| 137 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
133 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| 138 | { |
134 | { |
| 139 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
135 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| 140 | { |
136 | { |
| 141 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
137 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| 142 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
138 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| 143 | SPI_TxBufferIndex++; // pointer to next byte |
139 | SPI_TxBufferIndex++; // pointer to next byte |
| 144 | } |
140 | } |
| 145 | else // end of packet is reached reset and copy data to tx buffer |
141 | else // end of packet is reached reset and copy data to tx buffer |
| 146 | { |
142 | { |
| 147 | SPI_TxBufferIndex = 0; // reset buffer index |
143 | SPI_TxBufferIndex = 0; // reset buffer index |
| 148 | ToFlightCtrl.Chksum = 0; // initialize checksum |
144 | ToFlightCtrl.Chksum = 0; // initialize checksum |
| 149 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
145 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
| 150 | BeepTime = 0; // reset local beeptime |
146 | BeepTime = 0; // reset local beeptime |
| 151 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
147 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
| 152 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
148 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 153 | } |
149 | } |
| 154 | } |
150 | } |
| 155 | switch (SPI_State) |
151 | switch (SPI_State) |
| 156 | { |
152 | { |
| 157 | case SPI_SYNC1: |
153 | case SPI_SYNC1: |
| 158 | SPI_RxBufferIndex = 0; // reset buffer index |
154 | SPI_RxBufferIndex = 0; // reset buffer index |
| 159 | rxchksum = rxdata; // init checksum |
155 | rxchksum = rxdata; // init checksum |
| 160 | if (rxdata == SPI_RXSYNCBYTE1) |
156 | if (rxdata == SPI_RXSYNCBYTE1) |
| 161 | { // 1st syncbyte ok |
157 | { // 1st syncbyte ok |
| 162 | SPI_State = SPI_SYNC2; // step to sync2 |
158 | SPI_State = SPI_SYNC2; // step to sync2 |
| 163 | } |
159 | } |
| 164 | break; |
160 | break; |
| 165 | case SPI_SYNC2: |
161 | case SPI_SYNC2: |
| 166 | if (rxdata == SPI_RXSYNCBYTE2) |
162 | if (rxdata == SPI_RXSYNCBYTE2) |
| 167 | { // 2nd Syncbyte ok |
163 | { // 2nd Syncbyte ok |
| 168 | rxchksum += rxdata; |
164 | rxchksum += rxdata; |
| 169 | SPI_State = SPI_DATA; |
165 | SPI_State = SPI_DATA; |
| 170 | } // 2nd Syncbyte does not match |
166 | } // 2nd Syncbyte does not match |
| 171 | else |
167 | else |
| 172 | { |
168 | { |
| 173 | SPI_State = SPI_SYNC1; //jump back to sync1 |
169 | SPI_State = SPI_SYNC1; //jump back to sync1 |
| 174 | } |
170 | } |
| 175 | break; |
171 | break; |
| 176 | case SPI_DATA: |
172 | case SPI_DATA: |
| 177 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
173 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
| 178 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
174 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
| 179 | { |
175 | { |
| 180 | if (rxdata == rxchksum) // verify checksum byte |
176 | if (rxdata == rxchksum) // verify checksum byte |
| 181 | { |
177 | { |
| 182 | // copy SPI_RxBuffer -> FromFlightCtrl |
178 | // copy SPI_RxBuffer -> FromFlightCtrl |
| 183 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
179 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
| 184 | { |
180 | { |
| 185 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
181 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
| 186 | SPI_RxBuffer_Request = 1; |
182 | SPI_RxBuffer_Request = 1; |
| 187 | } |
183 | } |
| 188 | // reset timeout counter on good packet |
184 | // reset timeout counter on good packet |
| 189 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
185 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
| 190 | DebugOut.Analog[13]++; |
186 | DebugOut.Analog[13]++; |
| 191 | } |
187 | } |
| 192 | else // bad checksum byte |
188 | else // bad checksum byte |
| 193 | { |
189 | { |
| 194 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
190 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
| 195 | } |
191 | } |
| 196 | SPI_State = SPI_SYNC1; // reset state |
192 | SPI_State = SPI_SYNC1; // reset state |
| 197 | } |
193 | } |
| 198 | else // end of packet not reached |
194 | else // end of packet not reached |
| 199 | { |
195 | { |
| 200 | rxchksum += rxdata; // update checksum |
196 | rxchksum += rxdata; // update checksum |
| 201 | } |
197 | } |
| 202 | break; |
198 | break; |
| 203 | default: |
199 | default: |
| 204 | SPI_State = SPI_SYNC1; |
200 | SPI_State = SPI_SYNC1; |
| 205 | break; |
201 | break; |
| 206 | } |
202 | } |
| 207 | } |
203 | } |
| 208 | 204 | ||
| 209 | IDISABLE; |
205 | IDISABLE; |
| 210 | } |
206 | } |
| 211 | 207 | ||
| 212 | //-------------------------------------------------------------- |
208 | //-------------------------------------------------------------- |
| 213 | void SPI0_Init(void) |
209 | void SPI0_Init(void) |
| 214 | { |
210 | { |
| 215 | GPIO_InitTypeDef GPIO_InitStructure; |
211 | GPIO_InitTypeDef GPIO_InitStructure; |
| 216 | SSP_InitTypeDef SSP_InitStructure; |
212 | SSP_InitTypeDef SSP_InitStructure; |
| 217 | 213 | ||
| 218 | UART1_PutString("\r\n SPI init..."); |
214 | UART1_PutString("\r\n SPI init..."); |
| 219 | 215 | ||
| 220 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
216 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| 221 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
217 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
| 222 | 218 | ||
| 223 | GPIO_DeInit(GPIO2); |
219 | GPIO_DeInit(GPIO2); |
| 224 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
220 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
| 225 | GPIO_StructInit(&GPIO_InitStructure); |
221 | GPIO_StructInit(&GPIO_InitStructure); |
| 226 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
222 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| 227 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
223 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
| 228 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
224 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| 229 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
225 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 230 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
226 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
| 231 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
227 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
| 232 | 228 | ||
| 233 | // SSP0_MISO pin GPIO2.6 |
229 | // SSP0_MISO pin GPIO2.6 |
| 234 | GPIO_StructInit(&GPIO_InitStructure); |
230 | GPIO_StructInit(&GPIO_InitStructure); |
| 235 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
231 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| 236 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
232 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
| 237 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
233 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| 238 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
234 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 239 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
235 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
| 240 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
236 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
| 241 | 237 | ||
| 242 | SSP_DeInit(SSP0); |
238 | SSP_DeInit(SSP0); |
| 243 | SSP_StructInit(&SSP_InitStructure); |
239 | SSP_StructInit(&SSP_InitStructure); |
| 244 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
240 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
| 245 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
241 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
| 246 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
242 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
| 247 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
243 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
| 248 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
244 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
| 249 | SSP_InitStructure.SSP_ClockRate = 0; |
245 | SSP_InitStructure.SSP_ClockRate = 0; |
| 250 | 246 | ||
| 251 | SSP_Init(SSP0, &SSP_InitStructure); |
247 | SSP_Init(SSP0, &SSP_InitStructure); |
| 252 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
248 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
| 253 | - | ||
| 254 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
- | |
| 255 | 249 | ||
| 256 | SSP_Cmd(SSP0, ENABLE); |
250 | SSP_Cmd(SSP0, ENABLE); |
| 257 | // initialize the syncbytes in the tx buffer |
251 | // initialize the syncbytes in the tx buffer |
| 258 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
252 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
| 259 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
253 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
| 260 | // set the pointer to the checksum byte in the tx buffer |
254 | // set the pointer to the checksum byte in the tx buffer |
| 261 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
255 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
| 262 | 256 | ||
| 263 | ToFlightCtrl.GPSStick.Nick = 0; |
257 | ToFlightCtrl.GPSStick.Nick = 0; |
| 264 | ToFlightCtrl.GPSStick.Roll = 0; |
258 | ToFlightCtrl.GPSStick.Roll = 0; |
| 265 | ToFlightCtrl.GPSStick.Yaw = 0; |
259 | ToFlightCtrl.GPSStick.Yaw = 0; |
| 266 | 260 | ||
| 267 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
261 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| 268 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
262 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 269 | 263 | ||
| 270 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
264 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
| 271 | 265 | ||
| 272 | UART1_PutString("ok"); |
266 | UART1_PutString("ok"); |
| 273 | } |
267 | } |
| 274 | 268 | ||
| 275 | 269 | ||
| 276 | //------------------------------------------------------ |
270 | //------------------------------------------------------ |
| 277 | void SPI0_UpdateBuffer(void) |
271 | void SPI0_UpdateBuffer(void) |
| 278 | { |
272 | { |
| 279 | static u32 timeout = 0; |
273 | static u32 timeout = 0; |
| 280 | static u8 counter = 50; |
274 | static u8 counter = 50; |
| - | 275 | static u8 CompassCalState = 0; |
|
| 281 | 276 | ||
| 282 | if (SPI_RxBuffer_Request) |
277 | if (SPI_RxBuffer_Request) |
| 283 | { |
278 | { |
| 284 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
279 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
| 285 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
280 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
| 286 | ToFlightCtrl.CompassHeading = CompassHeading; |
281 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| 287 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
282 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 288 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
283 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 289 | // cycle spi commands |
284 | // cycle spi commands |
| 290 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
285 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 291 | // restart command cycle at the end |
286 | // restart command cycle at the end |
| 292 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
287 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 293 | 288 | ||
| 294 | switch (ToFlightCtrl.Command) |
289 | switch (ToFlightCtrl.Command) |
| 295 | { |
290 | { |
| 296 | case SPI_NCCMD_KALMAN: |
291 | case SPI_NCCMD_KALMAN: |
| 297 | CalcHeadFree(); |
292 | CalcHeadFree(); |
| 298 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
293 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| 299 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
294 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| 300 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
295 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
| 301 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
296 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
| 302 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
297 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 303 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
298 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 304 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
299 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 305 | break; |
300 | break; |
| 306 | 301 | ||
| 307 | case SPI_NCCMD_VERSION: |
302 | case SPI_NCCMD_VERSION: |
| 308 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
303 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
| 309 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
304 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
| 310 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
305 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| 311 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
306 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| 312 | ToFlightCtrl.Param.Byte[4] = BoardRelease; |
307 | ToFlightCtrl.Param.Byte[4] = BoardRelease; |
| 313 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
308 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
| 314 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
309 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
| 315 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
310 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
| 316 | break; |
311 | break; |
| 317 | 312 | ||
| 318 | case SPI_NCCMD_GPSINFO: |
313 | case SPI_NCCMD_GPSINFO: |
| 319 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
314 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
| 320 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
315 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
| 321 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
316 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
| 322 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
317 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| 323 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm |
318 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm |
| 324 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg |
319 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg |
| 325 | break; |
320 | break; |
| 326 | default: |
321 | default: |
| 327 | break; |
322 | break; |
| 328 | } |
323 | } |
| 329 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
324 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
| 330 | 325 | ||
| 331 | 326 | ||
| 332 | switch(FromFlightCtrl.Command) |
327 | switch(FromFlightCtrl.Command) |
| 333 | { |
328 | { |
| 334 | case SPI_FCCMD_USER: |
329 | case SPI_FCCMD_USER: |
| 335 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
330 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| 336 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
331 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
| 337 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
332 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
| 338 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
333 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
| 339 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
334 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
| 340 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
335 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
| 341 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
336 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
| 342 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
337 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
| 343 | if(ClearFCFlags) |
338 | if(ClearFCFlags) |
| 344 | { |
339 | { |
| 345 | FC.Flags = 0; |
340 | FC.Flags = 0; |
| 346 | ClearFCFlags = 0; |
341 | ClearFCFlags = 0; |
| 347 | } |
342 | } |
| 348 | FC.Flags |= FromFlightCtrl.Param.Byte[8]; |
343 | FC.Flags |= FromFlightCtrl.Param.Byte[8]; |
| 349 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
344 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 350 | DebugOut.Analog[5] = FC.Flags; |
345 | DebugOut.Analog[5] = FC.Flags; |
| 351 | NaviData.FCFlags = FC.Flags; |
346 | NaviData.FCFlags = FC.Flags; |
| 352 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
347 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
| 353 | break; |
348 | break; |
| 354 | 349 | ||
| 355 | case SPI_FCCMD_ACCU: |
350 | case SPI_FCCMD_ACCU: |
| 356 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
351 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
| 357 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
352 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
| 358 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
353 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
| 359 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
354 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
| 360 | NaviData.UBat = FC.BAT_Voltage; |
355 | NaviData.UBat = FC.BAT_Voltage; |
| 361 | NaviData.Current = FC.BAT_Current; |
356 | NaviData.Current = FC.BAT_Current; |
| 362 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
357 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
| 363 | break; |
358 | break; |
| 364 | 359 | ||
| 365 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
360 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
| 366 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
361 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
| 367 | 362 | ||
| 368 | case SPI_FCCMD_PARAMETER1: |
363 | case SPI_FCCMD_PARAMETER1: |
| 369 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
364 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
| 370 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
365 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
| 371 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
366 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
| 372 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
367 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
| 373 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
368 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
| 374 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
369 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
| 375 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
370 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
| 376 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
371 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
| 377 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
372 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| 378 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
373 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 379 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
374 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
| 380 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
375 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
| 381 | break; |
376 | break; |
| 382 | 377 | ||
| 383 | case SPI_FCCMD_STICK: |
378 | case SPI_FCCMD_STICK: |
| 384 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
379 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| 385 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
380 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
| 386 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
381 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
| 387 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
382 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
| 388 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
383 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
| 389 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
384 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
| 390 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
385 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
| 391 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
386 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
| 392 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
387 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
| 393 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
388 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
| 394 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
389 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
| 395 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
390 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
| 396 | break; |
391 | break; |
| 397 | 392 | ||
| 398 | case SPI_FCCMD_MISC: |
393 | case SPI_FCCMD_MISC: |
| 399 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
394 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| 400 | { // put only new CompassCalState into queue to send via I2C |
395 | { // put only new CompassCalState into queue to send via I2C |
| 401 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
396 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
| 402 | fifo_put(&CompassCalcStateFiFo, CompassCalState); |
397 | Compass_SetCalState(CompassCalState); |
| 403 | } |
398 | } |
| 404 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
399 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
| 405 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
400 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
| 406 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // is located at byte 2 and 3 |
401 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // is located at byte 2 and 3 |
| 407 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // is located at byte 4 and 5 |
402 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // is located at byte 4 and 5 |
| 408 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
403 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| 409 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
404 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
| 410 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
405 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
| 411 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
406 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| 412 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
407 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
| 413 | NaviData.RC_Quality = FC.RC_Quality; |
408 | NaviData.RC_Quality = FC.RC_Quality; |
| 414 | NaviData.RC_RSSI = FC.RC_RSSI; |
409 | NaviData.RC_RSSI = FC.RC_RSSI; |
| 415 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
410 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
| 416 | break; |
411 | break; |
| 417 | 412 | ||
| 418 | case SPI_FCCMD_SERVOS: |
413 | case SPI_FCCMD_SERVOS: |
| 419 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
414 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
| 420 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
415 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
| 421 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
416 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
| 422 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
417 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
| 423 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
418 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
| 424 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
419 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
| 425 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
420 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
| 426 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
421 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
| 427 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
422 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
| 428 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
423 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
| 429 | break; |
424 | break; |
| 430 | 425 | ||
| 431 | case SPI_FCCMD_VERSION: |
426 | case SPI_FCCMD_VERSION: |
| 432 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
427 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 433 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
428 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
| 434 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
429 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
| 435 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
430 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
| 436 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
431 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
| 437 | FC_ErrorCode[0] = FromFlightCtrl.Param.Byte[5]; |
432 | FC_ErrorCode[0] = FromFlightCtrl.Param.Byte[5]; |
| 438 | FC_ErrorCode[1] = FromFlightCtrl.Param.Byte[6]; |
433 | FC_ErrorCode[1] = FromFlightCtrl.Param.Byte[6]; |
| 439 | FC_ErrorCode[2] = FromFlightCtrl.Param.Byte[7]; |
434 | FC_ErrorCode[2] = FromFlightCtrl.Param.Byte[7]; |
| 440 | DebugOut.Status[0] |= 0x01; // status of FC Present |
435 | DebugOut.Status[0] |= 0x01; // status of FC Present |
| 441 | DebugOut.Status[0] |= 0x02; // status of BL Present |
436 | DebugOut.Status[0] |= 0x02; // status of BL Present |
| 442 | if(FC_ErrorCode[0] || FC_ErrorCode[1] || FC_ErrorCode[2]) DebugOut.Status[1] |= 0x01; |
437 | if(FC_ErrorCode[0] || FC_ErrorCode[1] || FC_ErrorCode[2]) DebugOut.Status[1] |= 0x01; |
| 443 | else DebugOut.Status[1] &= ~0x01; |
438 | else DebugOut.Status[1] &= ~0x01; |
| 444 | break; |
439 | break; |
| 445 | default: |
440 | default: |
| 446 | break; |
441 | break; |
| 447 | } |
442 | } |
| 448 | 443 | ||
| 449 | // every time we got new data from the FC via SPI call the navigation routine |
444 | // every time we got new data from the FC via SPI call the navigation routine |
| 450 | // and update GPSStick that are returned to FC |
445 | // and update GPSStick that are returned to FC |
| 451 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
446 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
| 452 | ClearFCFlags = 1; |
447 | ClearFCFlags = 1; |
| 453 | 448 | ||
| 454 | if(counter) |
449 | if(counter) |
| 455 | { |
450 | { |
| 456 | counter--; // count down to enable servo |
451 | counter--; // count down to enable servo |
| 457 | if(!counter) TIMER2_Init(); // enable Servo Output |
452 | if(!counter) TIMER2_Init(); // enable Servo Output |
| 458 | } |
453 | } |
| 459 | 454 | ||
| 460 | SPI_RxBuffer_Request = 0; |
455 | SPI_RxBuffer_Request = 0; |
| 461 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
456 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
| 462 | 457 | ||
| 463 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
458 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| 464 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
459 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
| 465 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
460 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
| 466 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
461 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
| 467 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
462 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
| 468 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
463 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
| 469 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
464 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
| 470 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
465 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
| 471 | } // EOF if(SPI_RxBuffer_Request) |
466 | } // EOF if(SPI_RxBuffer_Request) |
| 472 | else // no new SPI data |
467 | else // no new SPI data |
| 473 | { |
468 | { |
| 474 | if(CheckDelay(timeout) && (counter == 0)) |
469 | if(CheckDelay(timeout) && (counter == 0)) |
| 475 | { |
470 | { |
| 476 | TIMER2_Deinit(); // disable Servo Output |
471 | TIMER2_Deinit(); // disable Servo Output |
| 477 | counter = 50; // reset counter for enabling Servo Output |
472 | counter = 50; // reset counter for enabling Servo Output |
| 478 | } |
473 | } |
| 479 | } |
474 | } |
| 480 | } |
475 | } |
| 481 | 476 | ||
| 482 | //------------------------------------------------------ |
477 | //------------------------------------------------------ |
| 483 | void SPI0_GetFlightCtrlVersion(void) |
478 | void SPI0_GetFlightCtrlVersion(void) |
| 484 | { |
479 | { |
| 485 | u32 timeout; |
480 | u32 timeout; |
| 486 | u8 repeat; |
481 | u8 repeat; |
| 487 | u8 msg[64]; |
482 | u8 msg[64]; |
| 488 | 483 | ||
| 489 | UART1_PutString("\r\n Looking for FlightContol"); |
484 | UART1_PutString("\r\n Looking for FlightContol"); |
| 490 | FC_Version.Major = 0xFF; |
485 | FC_Version.Major = 0xFF; |
| 491 | FC_Version.Minor = 0xFF; |
486 | FC_Version.Minor = 0xFF; |
| 492 | FC_Version.Patch = 0xFF; |
487 | FC_Version.Patch = 0xFF; |
| 493 | FC_Version.Compatible = 0xFF; |
488 | FC_Version.Compatible = 0xFF; |
| 494 | 489 | ||
| 495 | // polling FC version info |
490 | // polling FC version info |
| 496 | repeat = 0; |
491 | repeat = 0; |
| 497 | do |
492 | do |
| 498 | { |
493 | { |
| 499 | timeout = SetDelay(250); |
494 | timeout = SetDelay(250); |
| 500 | do |
495 | do |
| 501 | { |
496 | { |
| 502 | SPI0_UpdateBuffer(); |
497 | SPI0_UpdateBuffer(); |
| 503 | if (FC_Version.Major != 0xFF) break; |
498 | if (FC_Version.Major != 0xFF) break; |
| 504 | }while (!CheckDelay(timeout)); |
499 | }while (!CheckDelay(timeout)); |
| 505 | UART1_PutString("."); |
500 | UART1_PutString("."); |
| 506 | repeat++; |
501 | repeat++; |
| 507 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
502 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| 508 | // if we got it |
503 | // if we got it |
| 509 | if (FC_Version.Major != 0xFF) |
504 | if (FC_Version.Major != 0xFF) |
| 510 | { |
505 | { |
| 511 | 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); |
506 | 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); |
| 512 | UART1_PutString(msg); |
507 | UART1_PutString(msg); |
| 513 | } |
508 | } |
| 514 | else UART1_PutString("\n\r not found!"); |
509 | else UART1_PutString("\n\r not found!"); |
| 515 | } |
510 | } |
| 516 | 511 | ||
| 517 | 512 | ||
| 518 | 513 | ||