Rev 383 | Rev 388 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 383 | Rev 386 | ||
---|---|---|---|
1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | 56 | ||
57 | #include <string.h> |
57 | #include <string.h> |
58 | #include <math.h> |
58 | #include <math.h> |
59 | #include "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 "compass.h" |
69 | #include "compass.h" |
70 | #include "params.h" |
70 | #include "params.h" |
71 | #include "stdlib.h" |
71 | #include "stdlib.h" |
72 | 72 | ||
73 | #define SPI_RXSYNCBYTE1 0xAA |
73 | #define SPI_RXSYNCBYTE1 0xAA |
74 | #define SPI_RXSYNCBYTE2 0x83 |
74 | #define SPI_RXSYNCBYTE2 0x83 |
75 | #define SPI_TXSYNCBYTE1 0x81 |
75 | #define SPI_TXSYNCBYTE1 0x81 |
76 | #define SPI_TXSYNCBYTE2 0x55 |
76 | #define SPI_TXSYNCBYTE2 0x55 |
77 | 77 | ||
78 | //communication packets |
78 | //communication packets |
79 | FromFlightCtrl_t FromFlightCtrl; |
79 | FromFlightCtrl_t FromFlightCtrl; |
80 | ToFlightCtrl_t ToFlightCtrl; |
80 | ToFlightCtrl_t ToFlightCtrl; |
81 | #define SPI0_TIMEOUT 500 // 500ms |
81 | #define SPI0_TIMEOUT 500 // 500ms |
82 | volatile u32 SPI0_Timeout = 0; |
82 | volatile u32 SPI0_Timeout = 0; |
83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
84 | 84 | ||
85 | // tx packet buffer |
85 | // tx packet buffer |
86 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
86 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
87 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10]; |
87 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10]; |
88 | volatile u8 SPI_TxBufferIndex = 0; |
88 | volatile u8 SPI_TxBufferIndex = 0; |
89 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
89 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
90 | 90 | ||
91 | // rx packet buffer |
91 | // rx packet buffer |
92 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
92 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
93 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN+10]; |
93 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN+10]; |
94 | volatile u8 SPI_RxBufferIndex = 0; |
94 | volatile u8 SPI_RxBufferIndex = 0; |
95 | volatile u8 SPI_RxBuffer_Request = 0; |
95 | volatile u8 SPI_RxBuffer_Request = 0; |
96 | #define SPI_COMMAND_INDEX 0 |
96 | #define SPI_COMMAND_INDEX 0 |
97 | 97 | ||
98 | s32 Kalman_K = 32; |
98 | s32 Kalman_K = 32; |
99 | s32 Kalman_MaxDrift = 5 * 16; |
99 | s32 Kalman_MaxDrift = 5 * 16; |
100 | s32 Kalman_MaxFusion = 64; |
100 | s32 Kalman_MaxFusion = 64; |
101 | s32 Kalman_Kompass = 32; |
101 | s32 Kalman_Kompass = 32; |
102 | s32 ToFcGpsZ = 0; |
102 | s32 ToFcGpsZ = 0; |
103 | 103 | ||
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 }; |
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 }; |
105 | u8 SPI_CommandCounter = 0; |
105 | u8 SPI_CommandCounter = 0; |
106 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
106 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
107 | s32 HeadFreeStartAngle = 0; |
107 | s32 HeadFreeStartAngle = 0; |
108 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
108 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
109 | u32 ToFC_AltitudeRate = 0; |
109 | u32 ToFC_AltitudeRate = 0; |
110 | s32 ToFC_AltitudeSetpoint = 0; |
110 | s32 ToFC_AltitudeSetpoint = 0; |
111 | u8 FromFC_VarioCharacter = ' '; |
111 | u8 FromFC_VarioCharacter = ' '; |
112 | u8 GPS_Aid_StickMultiplikator = 0; |
112 | u8 GPS_Aid_StickMultiplikator = 0; |
113 | u8 NC_GPS_ModeCharacter = ' '; |
113 | u8 NC_GPS_ModeCharacter = ' '; |
114 | u8 FCCalibActive = 0; |
114 | u8 FCCalibActive = 0; |
115 | u8 FC_is_Calibrated = 0; |
115 | u8 FC_is_Calibrated = 0; |
116 | Motor_t Motor[12]; |
116 | Motor_t Motor[12]; |
117 | u8 NC_To_FC_Flags = 0; |
117 | u8 NC_To_FC_Flags = 0; |
118 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
118 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
119 | u32 FC_I2C_ErrorConter; |
119 | u32 FC_I2C_ErrorConter; |
120 | SPI_Version_t FC_Version; |
120 | SPI_Version_t FC_Version; |
121 | s16 POI_KameraNick = 0; |
121 | s16 POI_KameraNick = 0; |
122 | 122 | ||
123 | //-------------------------------------------------------------- |
123 | //-------------------------------------------------------------- |
124 | void SSP0_IRQHandler(void) |
124 | void SSP0_IRQHandler(void) |
125 | { |
125 | { |
126 | static u8 rxchksum = 0; |
126 | static u8 rxchksum = 0; |
127 | u8 rxdata; |
127 | u8 rxdata; |
128 | 128 | ||
129 | #define SPI_SYNC1 0 |
129 | #define SPI_SYNC1 0 |
130 | #define SPI_SYNC2 1 |
130 | #define SPI_SYNC2 1 |
131 | #define SPI_DATA 2 |
131 | #define SPI_DATA 2 |
132 | static u8 SPI_State = SPI_SYNC1; |
132 | static u8 SPI_State = SPI_SYNC1; |
133 | //IENABLE; |
133 | //IENABLE; |
134 | 134 | ||
135 | // clear pending bits |
135 | // clear pending bits |
136 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
136 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
137 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
137 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
138 | 138 | ||
139 | // while RxFIFO not empty |
139 | // while RxFIFO not empty |
140 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
140 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
141 | { |
141 | { |
142 | rxdata = SSP0->DR; // catch the received byte |
142 | rxdata = SSP0->DR; // catch the received byte |
143 | // 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 |
144 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
144 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
145 | { |
145 | { |
146 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
146 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
147 | { |
147 | { |
148 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
148 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
149 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
149 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
150 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
150 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
151 | SPI_TxBufferIndex++; // pointer to next byte |
151 | SPI_TxBufferIndex++; // pointer to next byte |
152 | } |
152 | } |
153 | else // end of packet is reached reset and copy data to tx buffer |
153 | else // end of packet is reached reset and copy data to tx buffer |
154 | { |
154 | { |
155 | SPI_TxBufferIndex = 0; // reset buffer index |
155 | SPI_TxBufferIndex = 0; // reset buffer index |
156 | ToFlightCtrl.Chksum = 0; // initialize checksum |
156 | ToFlightCtrl.Chksum = 0; // initialize checksum |
157 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
157 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
158 | BeepTime = 0; // reset local beeptime |
158 | BeepTime = 0; // reset local beeptime |
159 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
159 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
160 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
160 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
161 | } |
161 | } |
162 | } |
162 | } |
163 | switch (SPI_State) |
163 | switch (SPI_State) |
164 | { |
164 | { |
165 | case SPI_SYNC1: |
165 | case SPI_SYNC1: |
166 | SPI_RxBufferIndex = 0; // reset buffer index |
166 | SPI_RxBufferIndex = 0; // reset buffer index |
167 | rxchksum = rxdata; // init checksum |
167 | rxchksum = rxdata; // init checksum |
168 | if (rxdata == SPI_RXSYNCBYTE1) |
168 | if (rxdata == SPI_RXSYNCBYTE1) |
169 | { // 1st syncbyte ok |
169 | { // 1st syncbyte ok |
170 | SPI_State = SPI_SYNC2; // step to sync2 |
170 | SPI_State = SPI_SYNC2; // step to sync2 |
171 | } |
171 | } |
172 | break; |
172 | break; |
173 | case SPI_SYNC2: |
173 | case SPI_SYNC2: |
174 | if (rxdata == SPI_RXSYNCBYTE2) |
174 | if (rxdata == SPI_RXSYNCBYTE2) |
175 | { // 2nd Syncbyte ok |
175 | { // 2nd Syncbyte ok |
176 | rxchksum += rxdata; |
176 | rxchksum += rxdata; |
177 | SPI_State = SPI_DATA; |
177 | SPI_State = SPI_DATA; |
178 | } // 2nd Syncbyte does not match |
178 | } // 2nd Syncbyte does not match |
179 | else |
179 | else |
180 | { |
180 | { |
181 | SPI_State = SPI_SYNC1; //jump back to sync1 |
181 | SPI_State = SPI_SYNC1; //jump back to sync1 |
182 | } |
182 | } |
183 | break; |
183 | break; |
184 | case SPI_DATA: |
184 | case SPI_DATA: |
185 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
185 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
186 | if(SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
186 | if(SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
187 | { |
187 | { |
188 | if (rxdata == rxchksum) // verify checksum byte |
188 | if (rxdata == rxchksum) // verify checksum byte |
189 | { |
189 | { |
190 | // copy SPI_RxBuffer -> FromFlightCtrl |
190 | // copy SPI_RxBuffer -> FromFlightCtrl |
191 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
191 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
192 | { |
192 | { |
193 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
193 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
194 | SPI_RxBuffer_Request = 1; |
194 | SPI_RxBuffer_Request = 1; |
195 | } |
195 | } |
196 | // reset timeout counter on good packet |
196 | // reset timeout counter on good packet |
197 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
197 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
198 | DebugOut.Analog[13]++; |
198 | DebugOut.Analog[13]++; |
199 | } |
199 | } |
200 | else // bad checksum byte |
200 | else // bad checksum byte |
201 | { |
201 | { |
202 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
202 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
203 | } |
203 | } |
204 | SPI_State = SPI_SYNC1; // reset state |
204 | SPI_State = SPI_SYNC1; // reset state |
205 | } |
205 | } |
206 | else // end of packet not reached |
206 | else // end of packet not reached |
207 | { |
207 | { |
208 | rxchksum += rxdata; // update checksum |
208 | rxchksum += rxdata; // update checksum |
209 | } |
209 | } |
210 | break; |
210 | break; |
211 | default: |
211 | default: |
212 | SPI_State = SPI_SYNC1; |
212 | SPI_State = SPI_SYNC1; |
213 | break; |
213 | break; |
214 | } |
214 | } |
215 | } |
215 | } |
216 | 216 | ||
217 | // IDISABLE; |
217 | // IDISABLE; |
218 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
218 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
219 | } |
219 | } |
220 | 220 | ||
221 | //-------------------------------------------------------------- |
221 | //-------------------------------------------------------------- |
222 | void SPI0_Init(void) |
222 | void SPI0_Init(void) |
223 | { |
223 | { |
224 | GPIO_InitTypeDef GPIO_InitStructure; |
224 | GPIO_InitTypeDef GPIO_InitStructure; |
225 | SSP_InitTypeDef SSP_InitStructure; |
225 | SSP_InitTypeDef SSP_InitStructure; |
226 | 226 | ||
227 | UART1_PutString("\r\n SPI init..."); |
227 | UART1_PutString("\r\n SPI init..."); |
228 | 228 | ||
229 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
229 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
230 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
230 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
231 | 231 | ||
232 | GPIO_DeInit(GPIO2); |
232 | GPIO_DeInit(GPIO2); |
233 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
233 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
234 | GPIO_StructInit(&GPIO_InitStructure); |
234 | GPIO_StructInit(&GPIO_InitStructure); |
235 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
235 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
236 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
236 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
237 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
237 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
238 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
238 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
239 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
239 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
240 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
240 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
241 | 241 | ||
242 | // SSP0_MISO pin GPIO2.6 |
242 | // SSP0_MISO pin GPIO2.6 |
243 | GPIO_StructInit(&GPIO_InitStructure); |
243 | GPIO_StructInit(&GPIO_InitStructure); |
244 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
244 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
245 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
245 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
246 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
246 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
247 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
247 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
248 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
248 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
249 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
249 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
250 | 250 | ||
251 | SSP_DeInit(SSP0); |
251 | SSP_DeInit(SSP0); |
252 | SSP_StructInit(&SSP_InitStructure); |
252 | SSP_StructInit(&SSP_InitStructure); |
253 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
253 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
254 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
254 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
255 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
255 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
256 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
256 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
257 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
257 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
258 | SSP_InitStructure.SSP_ClockRate = 0; |
258 | SSP_InitStructure.SSP_ClockRate = 0; |
259 | 259 | ||
260 | SSP_Init(SSP0, &SSP_InitStructure); |
260 | SSP_Init(SSP0, &SSP_InitStructure); |
261 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
261 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
262 | SSP_Cmd(SSP0, ENABLE); |
262 | SSP_Cmd(SSP0, ENABLE); |
263 | // initialize the syncbytes in the tx buffer |
263 | // initialize the syncbytes in the tx buffer |
264 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
264 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
265 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
265 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
266 | // set the pointer to the checksum byte in the tx buffer |
266 | // set the pointer to the checksum byte in the tx buffer |
267 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
267 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
268 | 268 | ||
269 | ToFlightCtrl.GPSStick.Nick = 0; |
269 | ToFlightCtrl.GPSStick.Nick = 0; |
270 | ToFlightCtrl.GPSStick.Roll = 0; |
270 | ToFlightCtrl.GPSStick.Roll = 0; |
271 | ToFlightCtrl.GPSStick.Yaw = 0; |
271 | ToFlightCtrl.GPSStick.Yaw = 0; |
272 | 272 | ||
273 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
273 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
274 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
274 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
275 | 275 | ||
276 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
276 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
277 | 277 | ||
278 | UART1_PutString("ok"); |
278 | UART1_PutString("ok"); |
279 | } |
279 | } |
280 | 280 | ||
281 | 281 | ||
282 | //------------------------------------------------------ |
282 | //------------------------------------------------------ |
283 | void SPI0_UpdateBuffer(void) |
283 | void SPI0_UpdateBuffer(void) |
284 | { |
284 | { |
285 | static u32 timeout = 0; |
285 | static u32 timeout = 0; |
286 | static u8 counter = 50,hott_index = 0; |
286 | static u8 counter = 50,hott_index = 0; |
287 | static u8 CompassCalState = 0; |
287 | static u8 CompassCalState = 0; |
288 | s16 tmp; |
288 | s16 tmp; |
289 | s32 i1,i2; |
289 | s32 i1,i2; |
290 | 290 | ||
291 | 291 | ||
292 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
292 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
293 | if(SPI_RxBuffer_Request) |
293 | if(SPI_RxBuffer_Request) |
294 | { |
294 | { |
295 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
295 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
296 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
296 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
297 | ToFlightCtrl.CompassHeading = Compass_Heading; |
297 | ToFlightCtrl.CompassHeading = Compass_Heading; |
298 | //ToFlightCtrl.CompassHeading += 360 + ((s32) Poti8 - 128); |
298 | //ToFlightCtrl.CompassHeading += 360 + ((s32) Poti8 - 128); |
299 | //ToFlightCtrl.CompassHeading %= 360; |
299 | //ToFlightCtrl.CompassHeading %= 360; |
300 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
300 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
301 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
301 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
302 | // ToFlightCtrl.MagVecX = MagVector.X; |
302 | // ToFlightCtrl.MagVecX = MagVector.X; |
303 | // ToFlightCtrl.MagVecY = MagVector.Y; |
303 | // ToFlightCtrl.MagVecY = MagVector.Y; |
304 | ToFlightCtrl.MagVecZ = MagVector.Z; |
304 | ToFlightCtrl.MagVecZ = MagVector.Z; |
305 | ToFlightCtrl.NCStatus = 0; |
305 | ToFlightCtrl.NCStatus = 0; |
306 | // cycle spi commands |
306 | // cycle spi commands |
307 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
307 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
308 | // restart command cycle at the end |
308 | // restart command cycle at the end |
309 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
309 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
310 | #define FLAG_GPS_AID 0x01 |
310 | #define FLAG_GPS_AID 0x01 |
311 | switch (ToFlightCtrl.Command) |
311 | switch (ToFlightCtrl.Command) |
312 | { |
312 | { |
313 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
313 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
314 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
314 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
315 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
315 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
316 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
316 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
317 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
317 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
318 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
318 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
319 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
319 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
320 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
320 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
321 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
321 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
322 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
322 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
323 | { |
323 | { |
324 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
324 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
325 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
325 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
326 | } |
326 | } |
327 | else |
327 | else |
328 | { |
328 | { |
329 | ToFlightCtrl.Param.sInt[4] = -1; |
329 | ToFlightCtrl.Param.sInt[4] = -1; |
330 | } |
330 | } |
331 | 331 | ||
332 | 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 |
333 | { |
333 | { |
334 | POI_KameraNick = tmp; |
334 | POI_KameraNick = tmp; |
335 | } |
335 | } |
336 | else |
336 | else |
337 | { |
337 | { |
338 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
338 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
339 | POI_KameraNick = CAM_Orientation.Elevation; |
339 | POI_KameraNick = CAM_Orientation.Elevation; |
340 | //else ToFlightCtrl.Param.sInt[5] = 0; |
340 | //else ToFlightCtrl.Param.sInt[5] = 0; |
341 | } |
341 | } |
342 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
342 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
343 | break; |
343 | break; |
344 | 344 | ||
345 | case SPI_NCCMD_VERSION: |
345 | case SPI_NCCMD_VERSION: |
346 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
346 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
347 | //+ higher than the maximum allowed altitude |
347 | //+ higher than the maximum allowed altitude |
348 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
348 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
349 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
349 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
350 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
350 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
351 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
351 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
352 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
352 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
353 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
353 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
354 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
354 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
355 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
355 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
356 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
356 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
357 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
357 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
358 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
358 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
359 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
359 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
360 | 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 |
361 | else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
361 | else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
362 | break; |
362 | break; |
363 | case SPI_MISC: |
363 | case SPI_MISC: |
364 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
364 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
365 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
365 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
366 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
366 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
367 | ToFlightCtrl.Param.Byte[3] = 0; |
367 | ToFlightCtrl.Param.Byte[3] = 0; |
368 | ToFlightCtrl.Param.Byte[4] = 0; |
368 | ToFlightCtrl.Param.Byte[4] = 0; |
369 | ToFlightCtrl.Param.Byte[5] = 0; |
369 | ToFlightCtrl.Param.Byte[5] = 0; |
370 | ToFlightCtrl.Param.Byte[6] = 0; |
370 | ToFlightCtrl.Param.Byte[6] = 0; |
371 | ToFlightCtrl.Param.Byte[7] = 0; |
371 | ToFlightCtrl.Param.Byte[7] = 0; |
372 | ToFlightCtrl.Param.Byte[8] = 0; |
372 | ToFlightCtrl.Param.Byte[8] = 0; |
373 | ToFlightCtrl.Param.Byte[9] = 0; |
373 | ToFlightCtrl.Param.Byte[9] = 0; |
374 | ToFlightCtrl.Param.Byte[10] = 0; |
374 | ToFlightCtrl.Param.Byte[10] = 0; |
375 | ToFlightCtrl.Param.Byte[11] = 0; |
375 | ToFlightCtrl.Param.Byte[11] = 0; |
376 | break; |
376 | break; |
377 | 377 | ||
378 | case SPI_NCCMD_GPSINFO: |
378 | case SPI_NCCMD_GPSINFO: |
379 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
379 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
380 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
380 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
381 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
381 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
382 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
382 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
383 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
383 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
384 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
384 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
385 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
385 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
386 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
386 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
387 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
387 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
388 | { |
388 | { |
389 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
389 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
390 | } |
390 | } |
391 | else |
391 | else |
392 | { |
392 | { |
393 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
393 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
394 | } |
394 | } |
395 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
395 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
396 | { |
396 | { |
397 | ToFlightCtrl.Param.sInt[5] = tmp; |
397 | ToFlightCtrl.Param.sInt[5] = tmp; |
398 | } |
398 | } |
399 | else |
399 | else |
400 | { |
400 | { |
401 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
401 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
402 | } |
402 | } |
403 | break; |
403 | break; |
404 | /* |
404 | /* |
405 | typedef struct |
405 | typedef struct |
406 | { |
406 | { |
407 | unsigned char StartByte; //0 // 0x7C |
407 | unsigned char StartByte; //0 // 0x7C |
408 | unsigned char Packet_ID; //1 // 0x89 - Vario ID |
408 | unsigned char Packet_ID; //1 // 0x89 - Vario ID |
409 | unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
409 | unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
410 | unsigned char Heading; //3 // 1 = 2° |
410 | unsigned char Heading; //3 // 1 = 2° |
411 | unsigned int Speed; //4+5 // in km/h |
411 | unsigned int Speed; //4+5 // in km/h |
412 | unsigned char Lat_North; //6 |
412 | unsigned char Lat_North; //6 |
413 | unsigned char Lat_G; //7 |
413 | unsigned char Lat_G; //7 |
414 | unsigned char Lat_M; //8 |
414 | unsigned char Lat_M; //8 |
415 | unsigned char Lat_Sek1; //9 |
415 | unsigned char Lat_Sek1; //9 |
416 | unsigned char Lat_Sek2; //10 |
416 | unsigned char Lat_Sek2; //10 |
417 | unsigned char Lon_East; //11 |
417 | unsigned char Lon_East; //11 |
418 | unsigned char Lon_G; //12 |
418 | unsigned char Lon_G; //12 |
419 | unsigned char Lon_M; //13 |
419 | unsigned char Lon_M; //13 |
420 | unsigned char Lon_Sek1; //14 |
420 | unsigned char Lon_Sek1; //14 |
421 | unsigned char Lon_Sek2; //15 |
421 | unsigned char Lon_Sek2; //15 |
422 | unsigned int Distance; //16+17 // 9000 = 0m |
422 | unsigned int Distance; //16+17 // 9000 = 0m |
423 | unsigned int Altitude; //18+19 // 500 = 0m |
423 | unsigned int Altitude; //18+19 // 500 = 0m |
424 | unsigned int m_sec; //20+21 // 3000 = 0 |
424 | unsigned int m_sec; //20+21 // 3000 = 0 |
425 | unsigned int m_3sec; //22+23 // 3000 = 0 |
425 | unsigned int m_3sec; //22+23 // 3000 = 0 |
426 | unsigned int m_10sec; //24+25 // 3000 = 0 |
426 | unsigned int m_10sec; //24+25 // 3000 = 0 |
427 | unsigned char NullByte; // 0x00 |
427 | unsigned char NullByte; // 0x00 |
428 | unsigned char NullByte1; // 0x00 |
428 | unsigned char NullByte1; // 0x00 |
429 | unsigned char EndByte; // 0x7D |
429 | unsigned char EndByte; // 0x7D |
430 | } GPSPacket_t; |
430 | } GPSPacket_t; |
431 | */ |
431 | */ |
432 | /* |
432 | /* |
433 | typedef struct |
433 | typedef struct |
434 | { |
434 | { |
435 | unsigned char StartByte; //0 0x7C |
435 | unsigned char StartByte; //0 0x7C |
436 | unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID |
436 | unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID |
437 | unsigned char WarnBeep; //2 Anzahl der Töne 0..36 |
437 | unsigned char WarnBeep; //2 Anzahl der Töne 0..36 |
438 | unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert) |
438 | unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert) |
439 | unsigned char VoltageCell2; //4 |
439 | unsigned char VoltageCell2; //4 |
440 | unsigned char VoltageCell3; //5 |
440 | unsigned char VoltageCell3; //5 |
441 | unsigned char VoltageCell4; //6 |
441 | unsigned char VoltageCell4; //6 |
442 | unsigned char VoltageCell5; //7 |
442 | unsigned char VoltageCell5; //7 |
443 | unsigned char VoltageCell6; //8 |
443 | unsigned char VoltageCell6; //8 |
444 | unsigned int Battery1; //9 51 = 5,1V |
444 | unsigned int Battery1; //9 51 = 5,1V |
445 | unsigned int Battery2; //11 51 = 5,1V |
445 | unsigned int Battery2; //11 51 = 5,1V |
446 | unsigned char Temperature1; //13 44 = 24°C, 0 = -20°C |
446 | unsigned char Temperature1; //13 44 = 24°C, 0 = -20°C |
447 | unsigned char Temperature2; //14 44 = 24°C, 0 = -20°C |
447 | unsigned char Temperature2; //14 44 = 24°C, 0 = -20°C |
448 | unsigned char FuelPercent; //15 |
448 | unsigned char FuelPercent; //15 |
449 | signed int FuelCapacity; //16 |
449 | signed int FuelCapacity; //16 |
450 | unsigned int Rpm; |
450 | unsigned int Rpm; |
451 | unsigned int Altitude; |
451 | unsigned int Altitude; |
452 | unsigned int m_sec; // 3000 = 0 |
452 | unsigned int m_sec; // 3000 = 0 |
453 | unsigned char m_3sec; // 120 = 0 |
453 | unsigned char m_3sec; // 120 = 0 |
454 | unsigned int Current; // 1 = 0.1A |
454 | unsigned int Current; // 1 = 0.1A |
455 | unsigned int InputVoltage; // 66 = 6,6V |
455 | unsigned int InputVoltage; // 66 = 6,6V |
456 | unsigned int Capacity; // 1 = 10mAh |
456 | unsigned int Capacity; // 1 = 10mAh |
457 | unsigned char NullByte1; // 0x00 |
457 | unsigned char NullByte1; // 0x00 |
458 | unsigned char NullByte2; // 0x00 |
458 | unsigned char NullByte2; // 0x00 |
459 | unsigned char EndByte; // 0x7D |
459 | unsigned char EndByte; // 0x7D |
460 | } HoTTGeneral_t; |
460 | } HoTTGeneral_t; |
461 | */ |
461 | */ |
462 | case SPI_NCCMD_HOTT_INFO: |
462 | case SPI_NCCMD_HOTT_INFO: |
463 | switch(hott_index++) |
463 | switch(hott_index++) |
464 | { |
464 | { |
465 | case 0: |
465 | case 0: |
466 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
466 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
467 | //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" |
468 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
468 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
469 | ToFlightCtrl.Param.Byte[0] = 3; // index |
469 | ToFlightCtrl.Param.Byte[0] = 3; // index |
470 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
470 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
471 | //----------------------------- |
471 | //----------------------------- |
472 | ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2; |
472 | ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2; |
473 | i1 = GPSData.Speed_Ground; // in cm/sec |
473 | i1 = GPSData.Speed_Ground; // in cm/sec |
474 | i1 *= 36; |
474 | i1 *= 36; |
475 | i1 /= 1000; |
475 | i1 /= 1000; |
476 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
476 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
477 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
477 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
478 | //----------------------------- |
478 | //----------------------------- |
479 | 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 |
480 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
480 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
481 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
481 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
482 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
482 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
483 | i1 *= 100; |
483 | i1 *= 100; |
484 | i1 += i2 / 100000; |
484 | i1 += i2 / 100000; |
485 | i2 = i2 % 100000; |
485 | i2 = i2 % 100000; |
486 | i2 /= 10; |
486 | i2 /= 10; |
487 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
487 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
488 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
488 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
489 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
489 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
490 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
490 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
491 | break; |
491 | break; |
492 | case 1: |
492 | case 1: |
493 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
493 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
494 | ToFlightCtrl.Param.Byte[0] = 11; // index |
494 | ToFlightCtrl.Param.Byte[0] = 11; // index |
495 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
495 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
496 | //----------------------------- |
496 | //----------------------------- |
497 | 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 |
498 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
498 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
499 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
499 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
500 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
500 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
501 | i1 *= 100; |
501 | i1 *= 100; |
502 | i1 += i2 / 100000; |
502 | i1 += i2 / 100000; |
503 | i2 = i2 % 100000; |
503 | i2 = i2 % 100000; |
504 | i2 /= 10; |
504 | i2 /= 10; |
505 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
505 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
506 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
506 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
507 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
507 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
508 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
508 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
509 | //----------------------------- |
509 | //----------------------------- |
510 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
510 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
511 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
511 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
512 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
512 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
513 | break; |
513 | break; |
514 | case 2: |
514 | case 2: |
515 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
515 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
516 | ToFlightCtrl.Param.Byte[0] = 5; // index |
516 | ToFlightCtrl.Param.Byte[0] = 5; // index |
517 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
517 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
518 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
518 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
519 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
519 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
520 | hott_index = 0; |
520 | hott_index = 0; |
521 | break; |
521 | break; |
522 | default: |
522 | default: |
523 | ToFlightCtrl.Param.Byte[0] = 255; |
523 | ToFlightCtrl.Param.Byte[0] = 255; |
524 | hott_index = 0; |
524 | hott_index = 0; |
525 | break; |
525 | break; |
526 | } |
526 | } |
527 | break; |
527 | break; |
528 | default: |
528 | default: |
529 | break; |
529 | break; |
530 | // 0 = 0,1 |
530 | // 0 = 0,1 |
531 | // 1 = 2,3 |
531 | // 1 = 2,3 |
532 | // 2 = 4,5 |
532 | // 2 = 4,5 |
533 | // 3 = 6,7 |
533 | // 3 = 6,7 |
534 | // 4 = 8,9 |
534 | // 4 = 8,9 |
535 | // 5 = 10,11 |
535 | // 5 = 10,11 |
536 | } |
536 | } |
537 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
537 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
538 | switch(FromFlightCtrl.Command) |
538 | switch(FromFlightCtrl.Command) |
539 | { |
539 | { |
540 | case SPI_FCCMD_USER: |
540 | case SPI_FCCMD_USER: |
541 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
541 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
542 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
542 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
543 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
543 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
544 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
544 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
545 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
545 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
546 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
546 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
547 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
547 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
548 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
548 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
549 | if(ClearFCStatusFlags) |
549 | if(ClearFCStatusFlags) |
550 | { |
550 | { |
551 | FC.StatusFlags = 0; |
551 | FC.StatusFlags = 0; |
552 | ClearFCStatusFlags = 0; |
552 | ClearFCStatusFlags = 0; |
553 | } |
553 | } |
554 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
554 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
555 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
555 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
556 | { |
556 | { |
557 | HeadFreeStartAngle = Compass_Heading * 10; |
557 | HeadFreeStartAngle = Compass_Heading * 10; |
558 | Compass_Init(); |
558 | Compass_Init(); |
559 | FCCalibActive = 10; |
559 | FCCalibActive = 10; |
560 | FC_is_Calibrated = 0; |
560 | FC_is_Calibrated = 0; |
561 | } |
561 | } |
562 | else |
562 | else |
563 | { |
563 | { |
564 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
564 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
565 | } |
565 | } |
566 | if(FC.StatusFlags & FC_STATUS_START) |
566 | if(FC.StatusFlags & FC_STATUS_START) |
567 | { |
567 | { |
568 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
568 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
569 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
569 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
570 | } |
570 | } |
571 | 571 | ||
572 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
572 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
573 | { |
573 | { |
574 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
574 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
575 | { |
575 | { |
576 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
576 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
577 | { |
577 | { |
578 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
578 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
579 | } |
579 | } |
580 | else // Ansonsten die aktuelle Richtung übernehmen |
580 | else // Ansonsten die aktuelle Richtung übernehmen |
581 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
581 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
582 | } |
582 | } |
583 | } |
583 | } |
584 | 584 | ||
585 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
585 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
586 | 586 | ||
587 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
587 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
588 | DebugOut.Analog[5] = FC.StatusFlags; |
588 | DebugOut.Analog[5] = FC.StatusFlags; |
589 | NaviData.FCStatusFlags = FC.StatusFlags; |
589 | NaviData.FCStatusFlags = FC.StatusFlags; |
590 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
590 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
591 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
591 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
592 | 592 | ||
593 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
593 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
594 | else |
594 | else |
595 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
595 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
596 | 596 | ||
597 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
597 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
598 | else |
598 | else |
599 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
599 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
600 | 600 | ||
601 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
601 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
602 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
602 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
603 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
603 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
604 | break; |
604 | break; |
605 | 605 | ||
606 | case SPI_FCCMD_ACCU: |
606 | case SPI_FCCMD_ACCU: |
607 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
607 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
608 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
608 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
609 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
609 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
610 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
610 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
611 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
611 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
612 | Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
612 | Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
613 | Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9]; |
613 | Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9]; |
614 | Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10]; |
614 | Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10]; |
615 | Motor[FromFlightCtrl.Param.Byte[7]].Current = FromFlightCtrl.Param.Byte[11]; |
615 | Motor[FromFlightCtrl.Param.Byte[7]].Current = FromFlightCtrl.Param.Byte[11]; |
616 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
616 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
617 | { |
617 | { |
618 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
618 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
619 | } |
619 | } |
620 | NaviData.UBat = FC.BAT_Voltage; |
620 | NaviData.UBat = FC.BAT_Voltage; |
621 | NaviData.Current = FC.BAT_Current; |
621 | NaviData.Current = FC.BAT_Current; |
622 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
622 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
623 | break; |
623 | break; |
624 | 624 | ||
625 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
625 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
626 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
626 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
627 | 627 | ||
628 | case SPI_FCCMD_PARAMETER1: |
628 | case SPI_FCCMD_PARAMETER1: |
629 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
629 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
630 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
630 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
631 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
631 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
632 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
632 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
633 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
633 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
634 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
634 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
635 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
635 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
636 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
636 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
637 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
637 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
638 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
638 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
639 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
639 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
640 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
640 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
641 | break; |
641 | break; |
642 | 642 | ||
643 | case SPI_FCCMD_STICK: |
643 | case SPI_FCCMD_STICK: |
644 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
644 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
645 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
645 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
646 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
646 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
647 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
647 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
648 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
648 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
649 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
649 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
650 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
650 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
651 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
651 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
652 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
652 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
653 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
653 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
654 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
654 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
655 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
655 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
656 | break; |
656 | break; |
657 | 657 | ||
658 | case SPI_FCCMD_MISC: |
658 | case SPI_FCCMD_MISC: |
659 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
659 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
660 | { // put only new CompassCalState into queue to send via I2C |
660 | { // put only new CompassCalState into queue to send via I2C |
661 | if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1) |
661 | if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1) |
662 | { |
662 | { |
663 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
663 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
664 | Compass_SetCalState(CompassCalState); |
664 | Compass_SetCalState(CompassCalState); |
665 | } |
665 | } |
666 | else CompassCalState = 0; |
666 | else CompassCalState = 0; |
667 | } |
667 | } |
668 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
668 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
669 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
669 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
670 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
670 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
671 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
671 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
672 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
672 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
673 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
673 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
674 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
674 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
675 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
675 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
676 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
676 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
677 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
677 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
678 | // NaviData.RC_RSSI = FC.RC_RSSI; |
678 | // NaviData.RC_RSSI = FC.RC_RSSI; |
679 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
679 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
680 | break; |
680 | break; |
681 | 681 | ||
682 | case SPI_FCCMD_SERVOS: |
682 | case SPI_FCCMD_SERVOS: |
683 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
683 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
684 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
684 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
685 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
685 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
686 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
686 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
687 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
687 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
688 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
688 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
689 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
689 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
690 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
690 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
691 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
691 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
692 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
692 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
693 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
693 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
694 | break; |
694 | break; |
695 | 695 | ||
696 | case SPI_FCCMD_VERSION: |
696 | case SPI_FCCMD_VERSION: |
697 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
697 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
698 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
698 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
699 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
699 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
700 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
700 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
701 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
701 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
702 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
702 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
703 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
703 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
704 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
704 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
705 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
705 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
706 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
706 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
707 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
707 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
708 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
708 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
709 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
709 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
710 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
710 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
711 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
711 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
712 | else DebugOut.StatusRed &= ~AMPEL_FC; |
712 | else DebugOut.StatusRed &= ~AMPEL_FC; |
713 | break; |
713 | break; |
714 | default: |
714 | default: |
715 | break; |
715 | break; |
716 | } |
716 | } |
717 | - | ||
718 | /* |
- | |
719 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
720 | */ |
- | |
721 | /* |
- | |
722 | if(Parameter.User8 < 100) FC.StatusFlags = 0; |
- | |
723 | else |
- | |
724 | if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
- | |
725 | else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
- | |
726 | BL_MinOfMaxPWM = 255; |
- | |
727 | */ |
717 | |
728 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
718 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
729 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
719 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
730 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
720 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
731 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
721 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
732 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
722 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
733 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
723 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
734 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
724 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
735 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
725 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
736 | // every time we got new data from the FC via SPI call the navigation routine |
726 | // every time we got new data from the FC via SPI call the navigation routine |
737 | // and update GPSStick that are returned to FC |
727 | // and update GPSStick that are returned to FC |
738 | SPI_RxBuffer_Request = 0; |
728 | SPI_RxBuffer_Request = 0; |
- | 729 | ||
- | 730 | ||
- | 731 | /* |
|
- | 732 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 733 | */ |
|
- | 734 | /* |
|
- | 735 | if(Parameter.User8 < 100) FC.StatusFlags = 0; |
|
- | 736 | else |
|
- | 737 | if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
|
- | 738 | else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
|
- | 739 | BL_MinOfMaxPWM = 255; |
|
- | 740 | */ |
|
739 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
741 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
740 | ClearFCStatusFlags = 1; |
742 | ClearFCStatusFlags = 1; |
741 | if(counter) |
743 | if(counter) |
742 | { |
744 | { |
743 | counter--; // count down to enable servo |
745 | counter--; // count down to enable servo |
744 | if(!counter) TIMER2_Init(); // enable Servo Output |
746 | if(!counter) TIMER2_Init(); // enable Servo Output |
745 | } |
747 | } |
746 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
748 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
747 | 749 | ||
748 | } // EOF if(SPI_RxBuffer_Request) |
750 | } // EOF if(SPI_RxBuffer_Request) |
749 | else // no new SPI data |
751 | else // no new SPI data |
750 | { |
752 | { |
751 | if(CheckDelay(timeout) && (counter == 0)) |
753 | if(CheckDelay(timeout) && (counter == 0)) |
752 | { |
754 | { |
753 | TIMER2_Deinit(); // disable Servo Output |
755 | TIMER2_Deinit(); // disable Servo Output |
754 | counter = 50; // reset counter for enabling Servo Output |
756 | counter = 50; // reset counter for enabling Servo Output |
755 | } |
757 | } |
756 | } |
758 | } |
757 | } |
759 | } |
758 | 760 | ||
759 | //------------------------------------------------------ |
761 | //------------------------------------------------------ |
760 | void SPI0_GetFlightCtrlVersion(void) |
762 | void SPI0_GetFlightCtrlVersion(void) |
761 | { |
763 | { |
762 | u32 timeout; |
764 | u32 timeout; |
763 | u8 repeat; |
765 | u8 repeat; |
764 | u8 msg[64]; |
766 | u8 msg[64]; |
765 | 767 | ||
766 | UART1_PutString("\r\n Looking for FlightControl"); |
768 | UART1_PutString("\r\n Looking for FlightControl"); |
767 | FC_Version.Major = 0xFF; |
769 | FC_Version.Major = 0xFF; |
768 | FC_Version.Minor = 0xFF; |
770 | FC_Version.Minor = 0xFF; |
769 | FC_Version.Patch = 0xFF; |
771 | FC_Version.Patch = 0xFF; |
770 | FC_Version.Compatible = 0xFF; |
772 | FC_Version.Compatible = 0xFF; |
771 | 773 | ||
772 | // polling FC version info |
774 | // polling FC version info |
773 | repeat = 0; |
775 | repeat = 0; |
774 | do |
776 | do |
775 | { |
777 | { |
776 | timeout = SetDelay(250); |
778 | timeout = SetDelay(250); |
777 | do |
779 | do |
778 | { |
780 | { |
779 | SPI0_UpdateBuffer(); |
781 | SPI0_UpdateBuffer(); |
780 | if (FC_Version.Major != 0xFF) break; |
782 | if (FC_Version.Major != 0xFF) break; |
781 | }while (!CheckDelay(timeout)); |
783 | }while (!CheckDelay(timeout)); |
782 | UART1_PutString("."); |
784 | UART1_PutString("."); |
783 | repeat++; |
785 | repeat++; |
784 | FCCalibActive = 1; |
786 | FCCalibActive = 1; |
785 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
787 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
786 | // if we got it |
788 | // if we got it |
787 | if (FC_Version.Major != 0xFF) |
789 | if (FC_Version.Major != 0xFF) |
788 | { |
790 | { |
789 | 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); |
791 | 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); |
790 | UART1_PutString(msg); |
792 | UART1_PutString(msg); |
791 | } |
793 | } |
792 | else UART1_PutString("\n\r not found!"); |
794 | else UART1_PutString("\n\r not found!"); |
793 | } |
795 | } |
794 | 796 | ||
795 | 797 | ||
796 | 798 |