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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | 56 | ||
57 | #include <string.h> |
57 | #include <string.h> |
58 | #include <math.h> |
58 | #include <math.h> |
59 | #include <stdlib.h> |
59 | #include <stdlib.h> |
60 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
61 | #include "led.h" |
61 | #include "led.h" |
62 | #include "gps.h" |
62 | #include "gps.h" |
63 | #include "uart1.h" |
63 | #include "uart1.h" |
64 | #include "spi_slave.h" |
64 | #include "spi_slave.h" |
65 | #include "compass.h" |
65 | #include "compass.h" |
66 | #include "timer1.h" |
66 | #include "timer1.h" |
67 | #include "timer2.h" |
67 | #include "timer2.h" |
68 | #include "config.h" |
68 | #include "config.h" |
69 | #include "main.h" |
69 | #include "main.h" |
70 | #include "params.h" |
70 | #include "params.h" |
71 | #include "settings.h" |
71 | #include "settings.h" |
72 | #include "triggerlog.h" |
72 | #include "triggerlog.h" |
73 | 73 | ||
74 | #define SPI_FCSYNCBYTE1 0xAA |
74 | #define SPI_FCSYNCBYTE1 0xAA |
75 | #define SPI_FCSYNCBYTE2 0x85 |
75 | #define SPI_FCSYNCBYTE2 0x85 |
76 | #define SPI_FCSYNCBYTE_HB1 0xA2 // for the huge Block |
76 | #define SPI_FCSYNCBYTE_HB1 0xA2 // for the huge Block |
77 | #define SPI_FCSYNCBYTE_HB2 0x48 // for the huge Block |
77 | #define SPI_FCSYNCBYTE_HB2 0x48 // for the huge Block |
78 | #define SPI_NCSYNCBYTE1 0x82 |
78 | #define SPI_NCSYNCBYTE1 0x82 |
79 | #define SPI_NCSYNCBYTE2 0x55 |
79 | #define SPI_NCSYNCBYTE2 0x55 |
80 | #define SPI_NCSYNCBYTE_HB2 0xA5 // for the huge Block |
80 | #define SPI_NCSYNCBYTE_HB2 0xA5 // for the huge Block |
81 | 81 | ||
82 | 82 | ||
83 | //communication packets |
83 | //communication packets |
84 | FromFlightCtrl_t FromFlightCtrl; |
84 | FromFlightCtrl_t FromFlightCtrl; |
85 | ToFlightCtrl_t ToFlightCtrl; |
85 | ToFlightCtrl_t ToFlightCtrl; |
86 | paramset_t EE_Parameter; |
86 | paramset_t EE_Parameter; |
87 | #define SPI0_TIMEOUT 2500 //ms |
87 | #define SPI0_TIMEOUT 2500 //ms |
88 | volatile u32 SPI0_Timeout = 0; |
88 | volatile u32 SPI0_Timeout = 0; |
89 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
89 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
90 | u8 SpeakHoTT = 0; |
90 | u8 SpeakHoTT = 0; |
91 | u32 LoggingGasFilter = 0, LoggingGasCnt = 0; |
91 | u32 LoggingGasFilter = 0, LoggingGasCnt = 0; |
92 | u8 Out1TriggerUpdateBlocked = 0; |
92 | u8 Out1TriggerUpdateBlocked = 0; |
93 | u8 Out1TriggerUpdateNewData = 0; |
93 | u8 Out1TriggerUpdateNewData = 0; |
94 | 94 | ||
95 | // tx packet buffer |
95 | // tx packet buffer |
96 | volatile u8 SPI_TxBuffer[sizeof(HugeBlockFromFC) + 10]; |
96 | volatile u8 SPI_TxBuffer[sizeof(HugeBlockFromFC) + 10]; |
97 | volatile u8 SPI_TxBufferIndex = 0; |
97 | volatile u8 SPI_TxBufferIndex = 0; |
98 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
98 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
99 | u16 SPI_Tx_Datasize = sizeof(ToFlightCtrl) + 2; |
99 | u16 SPI_Tx_Datasize = sizeof(ToFlightCtrl) + 2; |
100 | // rx packet buffer |
100 | // rx packet buffer |
101 | volatile u8 SPI_RxBuffer[sizeof(HugeBlockFromFC)+10]; |
101 | volatile u8 SPI_RxBuffer[sizeof(HugeBlockFromFC)+10]; |
102 | volatile u8 SPI_RxBufferIndex = 0; |
102 | volatile u8 SPI_RxBufferIndex = 0; |
103 | volatile u8 SPI_RxBuffer_Request = 0; |
103 | volatile u8 SPI_RxBuffer_Request = 0; |
104 | #define SPI_COMMAND_INDEX 0 |
104 | #define SPI_COMMAND_INDEX 0 |
105 | 105 | ||
106 | s32 Kalman_K = 32; |
106 | s32 Kalman_K = 32; |
107 | s32 Kalman_MaxDrift = 5 * 16; |
107 | s32 Kalman_MaxDrift = 5 * 16; |
108 | s32 Kalman_MaxFusion = 64; |
108 | s32 Kalman_MaxFusion = 64; |
109 | s32 Kalman_Kompass = 32; |
109 | s32 Kalman_Kompass = 32; |
110 | s32 ToFcGpsZ = 0; |
110 | s32 ToFcGpsZ = 0; |
111 | u8 CompassCalState = 0; |
111 | u8 CompassCalState = 0; |
112 | u8 RequestConfigFromFC = 0; |
112 | u8 RequestConfigFromFC = 0; |
113 | 113 | ||
114 | u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO, SPI_SERIAL_CH, // Achtung: SPI_SERIAL_CH darf nicht am Ende des Arrays stehen (wird gescipped) |
114 | u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO, SPI_SERIAL_CH, // Achtung: SPI_SERIAL_CH darf nicht am Ende des Arrays stehen (wird gescipped) |
115 | SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, |
115 | SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, |
116 | SPI_NCCMD_KALMAN, SPI_MISC, |
116 | SPI_NCCMD_KALMAN, SPI_MISC, |
117 | SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION }; |
117 | SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION }; |
118 | u8 SPI_CommandCounter = 0; |
118 | u8 SPI_CommandCounter = 0; |
119 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
119 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
120 | s32 HeadFreeStartAngle = 0; // in 0,1° |
120 | s32 HeadFreeStartAngle = 0; // in 0,1° |
121 | s32 CompassDirectionAtMotorStart = 0; // in 0,1° |
121 | s32 CompassDirectionAtMotorStart = 0; // in 0,1° |
122 | s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0, FC_WP_EventChannel_Processed = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
122 | s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0, FC_WP_EventChannel_Processed = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
123 | u32 ToFC_AltitudeRate = 0; |
123 | u32 ToFC_AltitudeRate = 0; |
124 | s32 ToFC_AltitudeSetpoint_dm = 0; |
124 | s32 ToFC_AltitudeSetpoint_dm = 0; |
125 | u8 FromFC_VarioCharacter = ' '; |
125 | u8 FromFC_VarioCharacter = ' '; |
126 | s16 GPS_Aid_StickMultiplikator = 0; |
126 | s16 GPS_Aid_StickMultiplikator = 0; |
127 | u8 NC_GPS_ModeCharacter = ' '; |
127 | u8 NC_GPS_ModeCharacter = ' '; |
128 | u8 FCCalibActive = 0; |
128 | u8 FCCalibActive = 0; |
129 | u8 FC_is_Calibrated = 0; |
129 | u8 FC_is_Calibrated = 0; |
130 | Motor_t Motor[MAX_MOTORS]; |
130 | Motor_t Motor[MAX_MOTORS]; |
131 | u8 Motor_Version[MAX_MOTORS]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
131 | u8 Motor_Version[MAX_MOTORS]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
132 | u8 NC_To_FC_Flags = 0; |
132 | u8 NC_To_FC_Flags = 0; |
133 | u8 BL_MinOfMaxPWM = 255; // indication if all BL-controllers run on full power |
133 | u8 BL_MinOfMaxPWM = 255; // indication if all BL-controllers run on full power |
134 | u8 Logging_BL_MinOfMaxPWM = 255; |
134 | u8 Logging_BL_MinOfMaxPWM = 255; |
135 | u8 ErrorCheck_BL_MinOfMaxPWM = 255; |
135 | u8 ErrorCheck_BL_MinOfMaxPWM = 255; |
136 | u32 FC_I2C_ErrorConter; |
136 | u32 FC_I2C_ErrorConter; |
137 | SPI_Version_t FC_Version; |
137 | SPI_Version_t FC_Version; |
138 | s16 POI_KameraNick = 0; |
138 | s16 POI_KameraNick = 0; |
139 | u8 NC_Wait_for_LED = 0; |
139 | u8 NC_Wait_for_LED = 0; |
140 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
140 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
141 | s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
141 | s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
142 | s16 CompassSetpoint = 0; // in 0,1° |
142 | s16 CompassSetpoint = 0; // in 0,1° |
143 | s16 SimulatedDirection = 0; // only for flight simulation |
143 | s16 SimulatedDirection = 0; // only for flight simulation |
144 | u8 AmountOfMotors = 0; |
144 | u8 AmountOfMotors = 0; |
145 | u16 FlugMinutenGesamt; |
145 | u16 FlugMinutenGesamt; |
146 | u8 HoverGas = 0; |
146 | u8 HoverGas = 0; |
147 | u8 LowVoltageLandingActive = 0; |
147 | u8 LowVoltageLandingActive = 0; |
148 | s8 PPM_In[MAX_RC_IN] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
148 | s8 PPM_In[MAX_RC_IN] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
149 | s16 FromFlightCtrl_AccNick = 0,FromFlightCtrl_AccRoll = 0,FromFlightCtrl_GyroNick = 0,FromFlightCtrl_GyroRoll = 0; |
149 | s16 FromFlightCtrl_AccNick = 0,FromFlightCtrl_AccRoll = 0,FromFlightCtrl_GyroNick = 0,FromFlightCtrl_GyroRoll = 0; |
150 | str_HugeBlockFromFC HugeBlockFromFC; |
150 | str_HugeBlockFromFC HugeBlockFromFC; |
151 | str_HugeBlockToFC HugeBlockToFC; |
151 | str_HugeBlockToFC HugeBlockToFC; |
152 | u8 CamCtrlCharacter =' '; |
152 | u8 CamCtrlCharacter =' '; |
153 | //-------------------------------------------------------------- |
153 | //-------------------------------------------------------------- |
154 | void SSP0_IRQHandler(void) |
154 | void SSP0_IRQHandler(void) |
155 | { |
155 | { |
156 | static u8 rxchksum = 0; |
156 | static u8 rxchksum = 0; |
157 | u8 rxdata; |
157 | u8 rxdata; |
158 | 158 | ||
159 | #define SPI_SYNC1 0 |
159 | #define SPI_SYNC1 0 |
160 | #define SPI_SYNC2 1 |
160 | #define SPI_SYNC2 1 |
161 | #define SPI_DATA 2 |
161 | #define SPI_DATA 2 |
162 | #define SPI_SYNC_HB 3 |
162 | #define SPI_SYNC_HB 3 |
163 | #define SPI_DATA_HB 4 |
163 | #define SPI_DATA_HB 4 |
164 | static u8 SPI_State = SPI_SYNC1; |
164 | static u8 SPI_State = SPI_SYNC1; |
165 | //IENABLE; |
165 | //IENABLE; |
166 | 166 | ||
167 | // clear pending bits |
167 | // clear pending bits |
168 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
168 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
169 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
169 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
170 | 170 | ||
171 | // while RxFIFO not empty |
171 | // while RxFIFO not empty |
172 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
172 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
173 | { |
173 | { |
174 | rxdata = SSP0->DR; // catch the received byte |
174 | rxdata = SSP0->DR; // catch the received byte |
175 | switch (SPI_State) |
175 | switch (SPI_State) |
176 | { |
176 | { |
177 | case SPI_SYNC1: |
177 | case SPI_SYNC1: |
178 | SPI_RxBufferIndex = 0; // reset buffer index |
178 | SPI_RxBufferIndex = 0; // reset buffer index |
179 | SPI_TxBufferIndex = 0; // reset buffer index |
179 | SPI_TxBufferIndex = 0; // reset buffer index |
180 | rxchksum = rxdata; // init checksum |
180 | rxchksum = rxdata; // init checksum |
181 | if (rxdata == SPI_FCSYNCBYTE1) |
181 | if (rxdata == SPI_FCSYNCBYTE1) |
182 | { // 1st syncbyte ok |
182 | { // 1st syncbyte ok |
183 | SPI_State = SPI_SYNC2; // step to sync2 |
183 | SPI_State = SPI_SYNC2; // step to sync2 |
184 | ToFlightCtrl.Chksum = 0; |
184 | ToFlightCtrl.Chksum = 0; |
185 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
185 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
186 | SPI_TxBuffer[0] = SPI_NCSYNCBYTE1; |
186 | SPI_TxBuffer[0] = SPI_NCSYNCBYTE1; |
187 | SPI_TxBuffer[1] = SPI_NCSYNCBYTE2; |
187 | SPI_TxBuffer[1] = SPI_NCSYNCBYTE2; |
188 | SPI_Tx_Datasize = sizeof(ToFlightCtrl) + 2; // +2 weil die Syncbytes nicht in dem Block stehen |
188 | SPI_Tx_Datasize = sizeof(ToFlightCtrl) + 2; // +2 weil die Syncbytes nicht in dem Block stehen |
189 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
189 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
190 | } |
190 | } |
191 | else |
191 | else |
192 | if (rxdata == SPI_FCSYNCBYTE_HB1) |
192 | if (rxdata == SPI_FCSYNCBYTE_HB1) |
193 | { // 1st syncbyte ok |
193 | { // 1st syncbyte ok |
194 | SPI_State = SPI_SYNC_HB; // step to syncHB |
194 | SPI_State = SPI_SYNC_HB; // step to syncHB |
195 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // sync1 |
195 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // sync1 |
196 | HugeBlockToFC.Sync1 = SPI_NCSYNCBYTE1; |
196 | HugeBlockToFC.Sync1 = SPI_NCSYNCBYTE1; |
197 | HugeBlockToFC.Sync2 = SPI_NCSYNCBYTE_HB2; |
197 | HugeBlockToFC.Sync2 = SPI_NCSYNCBYTE_HB2; |
198 | HugeBlockToFC.Chksum = 0; |
198 | HugeBlockToFC.Chksum = 0; |
199 | memcpy((u8 *) &(SPI_TxBuffer[0]), (u8 *) &HugeBlockToFC, sizeof(HugeBlockToFC)); |
199 | memcpy((u8 *) &(SPI_TxBuffer[0]), (u8 *) &HugeBlockToFC, sizeof(HugeBlockToFC)); |
200 | SPI_Tx_Datasize = sizeof(HugeBlockToFC); |
200 | SPI_Tx_Datasize = sizeof(HugeBlockToFC); |
201 | Ptr_TxChksum = (u8 *) &(((str_HugeBlockToFC *) &(SPI_TxBuffer[0]))->Chksum); |
201 | Ptr_TxChksum = (u8 *) &(((str_HugeBlockToFC *) &(SPI_TxBuffer[0]))->Chksum); |
202 | *Ptr_TxChksum = 0; |
202 | *Ptr_TxChksum = 0; |
203 | } |
203 | } |
204 | break; |
204 | break; |
205 | case SPI_SYNC2: |
205 | case SPI_SYNC2: |
206 | if (rxdata == SPI_FCSYNCBYTE2) |
206 | if (rxdata == SPI_FCSYNCBYTE2) |
207 | { // 2nd Syncbyte ok |
207 | { // 2nd Syncbyte ok |
208 | rxchksum += rxdata; |
208 | rxchksum += rxdata; |
209 | SPI_State = SPI_DATA; |
209 | SPI_State = SPI_DATA; |
210 | } // 2nd Syncbyte does not match |
210 | } // 2nd Syncbyte does not match |
211 | else |
211 | else |
212 | { |
212 | { |
213 | SPI_State = SPI_SYNC1; //jump back to sync1 |
213 | SPI_State = SPI_SYNC1; //jump back to sync1 |
214 | } |
214 | } |
215 | break; |
215 | break; |
216 | case SPI_SYNC_HB: |
216 | case SPI_SYNC_HB: |
217 | if (rxdata == SPI_FCSYNCBYTE_HB2) |
217 | if (rxdata == SPI_FCSYNCBYTE_HB2) |
218 | { // 2nd Syncbyte ok |
218 | { // 2nd Syncbyte ok |
219 | rxchksum += rxdata; |
219 | rxchksum += rxdata; |
220 | SPI_State = SPI_DATA_HB; |
220 | SPI_State = SPI_DATA_HB; |
221 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // sync2 |
221 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // sync2 |
222 | } // 2nd Syncbyte does not match |
222 | } // 2nd Syncbyte does not match |
223 | else |
223 | else |
224 | { |
224 | { |
225 | SPI_State = SPI_SYNC1; //jump back to sync1 |
225 | SPI_State = SPI_SYNC1; //jump back to sync1 |
226 | } |
226 | } |
227 | break; |
227 | break; |
228 | case SPI_DATA: |
228 | case SPI_DATA: |
229 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
229 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
230 | if(SPI_RxBufferIndex >= sizeof(ToFlightCtrl)) // end of packet is reached |
230 | if(SPI_RxBufferIndex >= sizeof(ToFlightCtrl)) // end of packet is reached |
231 | { |
231 | { |
232 | if (rxdata == rxchksum) // verify checksum byte |
232 | if (rxdata == rxchksum) // verify checksum byte |
233 | { |
233 | { |
234 | // copy SPI_RxBuffer -> FromFlightCtrl |
234 | // copy SPI_RxBuffer -> FromFlightCtrl |
235 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
235 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
236 | { |
236 | { |
237 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
237 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
238 | SPI_RxBuffer_Request = 1; |
238 | SPI_RxBuffer_Request = 1; |
239 | } |
239 | } |
240 | // reset timeout counter on good packet |
240 | // reset timeout counter on good packet |
241 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
241 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
242 | // DebugOut.Analog[13]++; |
242 | // DebugOut.Analog[13]++; |
243 | } |
243 | } |
244 | else // bad checksum byte |
244 | else // bad checksum byte |
245 | { |
245 | { |
246 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
246 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
247 | } |
247 | } |
248 | SPI_State = SPI_SYNC1; // reset state |
248 | SPI_State = SPI_SYNC1; // reset state |
249 | } |
249 | } |
250 | else // end of packet not reached |
250 | else // end of packet not reached |
251 | { |
251 | { |
252 | rxchksum += rxdata; // update checksum |
252 | rxchksum += rxdata; // update checksum |
253 | } |
253 | } |
254 | break; |
254 | break; |
255 | case SPI_DATA_HB: |
255 | case SPI_DATA_HB: |
256 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
256 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
257 | if(SPI_RxBufferIndex >= sizeof(HugeBlockFromFC)) // end of packet is reached |
257 | if(SPI_RxBufferIndex >= sizeof(HugeBlockFromFC)) // end of packet is reached |
258 | { |
258 | { |
259 | if (rxdata == rxchksum) // verify checksum byte |
259 | if (rxdata == rxchksum) // verify checksum byte |
260 | { |
260 | { |
261 | // copy SPI_RxBuffer -> FromFlightCtrl |
261 | // copy SPI_RxBuffer -> FromFlightCtrl |
262 | memcpy((u8 *) &HugeBlockFromFC, (u8 *) SPI_RxBuffer, sizeof(HugeBlockFromFC)); |
262 | memcpy((u8 *) &HugeBlockFromFC, (u8 *) SPI_RxBuffer, sizeof(HugeBlockFromFC)); |
263 | // reset timeout counter on good packet |
263 | // reset timeout counter on good packet |
264 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
264 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
265 | } |
265 | } |
266 | else // bad checksum byte |
266 | else // bad checksum byte |
267 | { |
267 | { |
268 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
268 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
269 | } |
269 | } |
270 | SPI_State = SPI_SYNC1; // reset state |
270 | SPI_State = SPI_SYNC1; // reset state |
271 | } |
271 | } |
272 | else // end of packet not reached |
272 | else // end of packet not reached |
273 | { |
273 | { |
274 | rxchksum += rxdata; // update checksum |
274 | rxchksum += rxdata; // update checksum |
275 | } |
275 | } |
276 | break; |
276 | break; |
277 | default: |
277 | default: |
278 | SPI_State = SPI_SYNC1; |
278 | SPI_State = SPI_SYNC1; |
279 | break; |
279 | break; |
280 | } |
280 | } |
281 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
281 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
282 | // + Ouput Data |
282 | // + Ouput Data |
283 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
283 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
284 | // Fill TxFIFO while its not full or end of packet is reached |
284 | // Fill TxFIFO while its not full or end of packet is reached |
285 | while((SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) && (SPI_TxBufferIndex < SPI_Tx_Datasize)) |
285 | while((SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) && (SPI_TxBufferIndex < SPI_Tx_Datasize)) |
286 | { |
286 | { |
287 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
287 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
288 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
288 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
289 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
289 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
290 | SPI_TxBufferIndex++; // pointer to next byte |
290 | SPI_TxBufferIndex++; // pointer to next byte |
291 | } |
291 | } |
292 | } |
292 | } |
293 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
293 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
294 | } |
294 | } |
295 | 295 | ||
296 | //-------------------------------------------------------------- |
296 | //-------------------------------------------------------------- |
297 | void SPI0_Init(void) |
297 | void SPI0_Init(void) |
298 | { |
298 | { |
299 | GPIO_InitTypeDef GPIO_InitStructure; |
299 | GPIO_InitTypeDef GPIO_InitStructure; |
300 | SSP_InitTypeDef SSP_InitStructure; |
300 | SSP_InitTypeDef SSP_InitStructure; |
301 | 301 | ||
302 | UART1_PutString("\r\n SPI init..."); |
302 | UART1_PutString("\r\n SPI init..."); |
303 | 303 | ||
304 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
304 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
305 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
305 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
306 | 306 | ||
307 | GPIO_DeInit(GPIO2); |
307 | GPIO_DeInit(GPIO2); |
308 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
308 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
309 | GPIO_StructInit(&GPIO_InitStructure); |
309 | GPIO_StructInit(&GPIO_InitStructure); |
310 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
310 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
311 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
311 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
312 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
312 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
313 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
313 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
314 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
314 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
315 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
315 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
316 | 316 | ||
317 | // SSP0_MISO pin GPIO2.6 |
317 | // SSP0_MISO pin GPIO2.6 |
318 | GPIO_StructInit(&GPIO_InitStructure); |
318 | GPIO_StructInit(&GPIO_InitStructure); |
319 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
319 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
320 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
320 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
321 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
321 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
322 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
322 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
323 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
323 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
324 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
324 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
325 | GPIO_WriteBit(GPIO2, GPIO_Pin_6, Bit_RESET); // switch MISO to low |
325 | GPIO_WriteBit(GPIO2, GPIO_Pin_6, Bit_RESET); // switch MISO to low |
326 | 326 | ||
327 | SSP_DeInit(SSP0); |
327 | SSP_DeInit(SSP0); |
328 | SSP_StructInit(&SSP_InitStructure); |
328 | SSP_StructInit(&SSP_InitStructure); |
329 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
329 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
330 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
330 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
331 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
331 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
332 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
332 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
333 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
333 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
334 | SSP_InitStructure.SSP_ClockRate = 0; |
334 | SSP_InitStructure.SSP_ClockRate = 0; |
335 | 335 | ||
336 | SSP_Init(SSP0, &SSP_InitStructure); |
336 | SSP_Init(SSP0, &SSP_InitStructure); |
337 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
337 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
338 | SSP_Cmd(SSP0, ENABLE); |
338 | SSP_Cmd(SSP0, ENABLE); |
339 | // initialize the syncbytes in the tx buffer |
339 | // initialize the syncbytes in the tx buffer |
340 | SPI_TxBuffer[0] = SPI_NCSYNCBYTE1; |
340 | SPI_TxBuffer[0] = SPI_NCSYNCBYTE1; |
341 | SPI_TxBuffer[1] = SPI_NCSYNCBYTE2; |
341 | SPI_TxBuffer[1] = SPI_NCSYNCBYTE2; |
342 | // set the pointer to the checksum byte in the tx buffer |
342 | // set the pointer to the checksum byte in the tx buffer |
343 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
343 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
344 | 344 | ||
345 | ToFlightCtrl.GPSStick.Nick = 0; |
345 | ToFlightCtrl.GPSStick.Nick = 0; |
346 | ToFlightCtrl.GPSStick.Roll = 0; |
346 | ToFlightCtrl.GPSStick.Roll = 0; |
347 | // ToFlightCtrl.GPSStick.Yaw = 0; |
347 | // ToFlightCtrl.GPSStick.Yaw = 0; |
348 | 348 | ||
349 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
349 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
350 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
350 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
351 | 351 | ||
352 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
352 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
353 | EE_Parameter.Revision = 0; |
353 | EE_Parameter.Revision = 0; |
354 | sprintf(EE_Parameter.Name,"???\0"); |
354 | sprintf(EE_Parameter.Name,"???%c",0); |
355 | UART1_PutString("ok"); |
355 | UART1_PutString("ok"); |
356 | } |
356 | } |
357 | 357 | ||
358 | 358 | ||
359 | //------------------------------------------------------ |
359 | //------------------------------------------------------ |
360 | void SPI0_UpdateBuffer(void) |
360 | void SPI0_UpdateBuffer(void) |
361 | { |
361 | { |
362 | static u32 timeout = 0; |
362 | static u32 timeout = 0; |
363 | static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0; |
363 | static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0; |
364 | static s16 last_wp_event = 0; |
364 | static s16 last_wp_event = 0; |
365 | u8 index; |
365 | u8 index; |
366 | s16 tmp; |
366 | s16 tmp; |
367 | s32 i1,i2; |
367 | s32 i1,i2; |
368 | /* |
368 | /* |
369 | union |
369 | union |
370 | { |
370 | { |
371 | unsigned char Byte[4]; |
371 | unsigned char Byte[4]; |
372 | unsigned int Int[2]; |
372 | unsigned int Int[2]; |
373 | unsigned long Long; |
373 | unsigned long Long; |
374 | } Temp; |
374 | } Temp; |
375 | */ |
375 | */ |
376 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
376 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
377 | if(SPI_RxBuffer_Request) |
377 | if(SPI_RxBuffer_Request) |
378 | { |
378 | { |
379 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
379 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
380 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
380 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
381 | ToFlightCtrl.CompassHeading = Compass_Heading; |
381 | ToFlightCtrl.CompassHeading = Compass_Heading; |
382 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
382 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
383 | GyroCompassCorrected = (3600 + FromFlightCtrl.GyroHeading + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
383 | GyroCompassCorrected = (3600 + FromFlightCtrl.GyroHeading + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
384 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
384 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
385 | // ToFlightCtrl.MagVecX = MagVector.X; |
385 | // ToFlightCtrl.MagVecX = MagVector.X; |
386 | // ToFlightCtrl.MagVecY = MagVector.Y; |
386 | // ToFlightCtrl.MagVecY = MagVector.Y; |
387 | // ToFlightCtrl.MagVecZ = MagVector.Z; |
387 | // ToFlightCtrl.MagVecZ = MagVector.Z; |
388 | // ToFlightCtrl.NCStatus = 0; |
388 | // ToFlightCtrl.NCStatus = 0; |
389 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
389 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
390 | 390 | ||
391 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
391 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
392 | // cycle spi commands |
392 | // cycle spi commands |
393 | if(ErrorCode != last_error_code && enable_injecting) |
393 | if(ErrorCode != last_error_code && enable_injecting) |
394 | { |
394 | { |
395 | ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
395 | ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
396 | last_error_code = ErrorCode; |
396 | last_error_code = ErrorCode; |
397 | enable_injecting = 0; |
397 | enable_injecting = 0; |
398 | } |
398 | } |
399 | else |
399 | else |
400 | if(FC_WP_EventChannel != last_wp_event && enable_injecting) |
400 | if(FC_WP_EventChannel != last_wp_event && enable_injecting) |
401 | { |
401 | { |
402 | ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
402 | ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
403 | last_wp_event = FC_WP_EventChannel; |
403 | last_wp_event = FC_WP_EventChannel; |
404 | enable_injecting = 0; |
404 | enable_injecting = 0; |
405 | } |
405 | } |
406 | else |
406 | else |
407 | { |
407 | { |
408 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
408 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
409 | if((ToFlightCtrl.Command == SPI_SERIAL_CH) && !NewSerialChannelFrame) ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
409 | if((ToFlightCtrl.Command == SPI_SERIAL_CH) && !NewSerialChannelFrame) ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
410 | // restart command cycle at the end |
410 | // restart command cycle at the end |
411 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
411 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
412 | if(ToFlightCtrl.Command == SPI_NCCMD_KALMAN) enable_injecting = 1; |
412 | if(ToFlightCtrl.Command == SPI_NCCMD_KALMAN) enable_injecting = 1; |
413 | } |
413 | } |
414 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
414 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
415 | 415 | ||
416 | #define FLAG_GPS_AID 0x01 |
416 | #define FLAG_GPS_AID 0x01 |
417 | switch (ToFlightCtrl.Command) |
417 | switch (ToFlightCtrl.Command) |
418 | { |
418 | { |
419 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
419 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
420 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
420 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
421 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
421 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
422 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
422 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
423 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
423 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
424 | ToFlightCtrl.Param.Byte[4] = 0; // siehe bitcodiert unten |
424 | ToFlightCtrl.Param.Byte[4] = 0; // siehe bitcodiert unten |
425 | if(DebugUART == UART2) ToFlightCtrl.Param.Byte[4] = 0x02; // informs the FC to listen to the UART |
425 | if(DebugUART == UART2) ToFlightCtrl.Param.Byte[4] = 0x02; // informs the FC to listen to the UART |
426 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
426 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
427 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
427 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
428 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
428 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
429 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
429 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
430 | { |
430 | { |
431 | // if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + (3*360) - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10 + Parameter.OrientationAngle * 15)) % 360; // the FC uses the uncorrected comnpass value |
431 | // if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + (3*360) - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10 + Parameter.OrientationAngle * 15)) % 360; // the FC uses the uncorrected comnpass value |
432 | if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + (3*360) - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10 + Parameter.CamOrientation * 15)) % 360; // the FC uses the uncorrected comnpass value |
432 | if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + (3*360) - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10 + Parameter.CamOrientation * 15)) % 360; // the FC uses the uncorrected comnpass value |
433 | else CAM_Orientation.Azimuth = -1; |
433 | else CAM_Orientation.Azimuth = -1; |
434 | if(CAM_Orientation.UpdateMask & FORCE_AZIMUTH_ROTATION) ToFlightCtrl.Param.Byte[4] |= 0x01; // allows Yawing without CareFree (Yawing at Coming Home) |
434 | if(CAM_Orientation.UpdateMask & FORCE_AZIMUTH_ROTATION) ToFlightCtrl.Param.Byte[4] |= 0x01; // allows Yawing without CareFree (Yawing at Coming Home) |
435 | CAM_Orientation.UpdateMask &= ~(CAM_UPDATE_AZIMUTH | FORCE_AZIMUTH_ROTATION); |
435 | CAM_Orientation.UpdateMask &= ~(CAM_UPDATE_AZIMUTH | FORCE_AZIMUTH_ROTATION); |
436 | } |
436 | } |
437 | else |
437 | else |
438 | { |
438 | { |
439 | ToFlightCtrl.Param.sInt[4] = -1; |
439 | ToFlightCtrl.Param.sInt[4] = -1; |
440 | } |
440 | } |
441 | 441 | ||
442 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
442 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
443 | { |
443 | { |
444 | POI_KameraNick = tmp; |
444 | POI_KameraNick = tmp; |
445 | } |
445 | } |
446 | else |
446 | else |
447 | { |
447 | { |
448 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
448 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
449 | POI_KameraNick = CAM_Orientation.Elevation; |
449 | POI_KameraNick = CAM_Orientation.Elevation; |
450 | //else ToFlightCtrl.Param.sInt[5] = 0; |
450 | //else ToFlightCtrl.Param.sInt[5] = 0; |
451 | } |
451 | } |
452 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
452 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
453 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
453 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
454 | if(BeepTime > 255 * 16) BeepTime = 255 * 16; |
454 | if(BeepTime > 255 * 16) BeepTime = 255 * 16; |
455 | ToFlightCtrl.Param.Byte[12] = BeepTime/16; // set beeptime |
455 | ToFlightCtrl.Param.Byte[12] = BeepTime/16; // set beeptime |
456 | BeepTime = 0; // reset local beeptime |
456 | BeepTime = 0; // reset local beeptime |
457 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
457 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
458 | if(NewExternalControlFrame) |
458 | if(NewExternalControlFrame) |
459 | { |
459 | { |
460 | NewExternalControlFrame = 0; |
460 | NewExternalControlFrame = 0; |
461 | ToFlightCtrl.Param.Byte[4] |= 0x10; // Bit: there is External Control in the Data |
461 | ToFlightCtrl.Param.Byte[4] |= 0x10; // Bit: there is External Control in the Data |
462 | memcpy((u8 *) &(ToFlightCtrl.Param.Byte[13]), (u8 *) &ExternControl, 7); // 6 Bytes External Control |
462 | memcpy((u8 *) &(ToFlightCtrl.Param.Byte[13]), (u8 *) &ExternControl, 7); // 6 Bytes External Control |
463 | } |
463 | } |
464 | break; |
464 | break; |
465 | 465 | ||
466 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
466 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
467 | case SPI_SERIAL_CH: |
467 | case SPI_SERIAL_CH: |
468 | memcpy((u8 *) &(ToFlightCtrl.Param.Byte[0]), (u8 *) &SerialChannel, 12); // 12 Bytes Serial Channels |
468 | memcpy((u8 *) &(ToFlightCtrl.Param.Byte[0]), (u8 *) &SerialChannel, 12); // 12 Bytes Serial Channels |
469 | NewSerialChannelFrame = 0; |
469 | NewSerialChannelFrame = 0; |
470 | break; |
470 | break; |
471 | case SPI_NCCMD_VERSION: |
471 | case SPI_NCCMD_VERSION: |
472 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
472 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
473 | //+ higher than the maximum allowed altitude |
473 | //+ higher than the maximum allowed altitude |
474 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
474 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
475 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
475 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
476 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
476 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
477 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
477 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
478 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
478 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
479 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
479 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
480 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
480 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
481 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
481 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
482 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
482 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
483 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
483 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
484 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
484 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
485 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
485 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
486 | ToFlightCtrl.Param.Byte[11] = SpeakHoTT; |
486 | ToFlightCtrl.Param.Byte[11] = SpeakHoTT; |
487 | ToFlightCtrl.Param.Byte[12] = RequestConfigFromFC & 0x01; |
487 | ToFlightCtrl.Param.Byte[12] = RequestConfigFromFC & 0x01; |
488 | SpeakHoTT = 0; |
488 | SpeakHoTT = 0; |
489 | ToFlightCtrl.Param.Byte[13] = Partner.ErrorCode; |
489 | ToFlightCtrl.Param.Byte[13] = Partner.ErrorCode; |
490 | ToFlightCtrl.Param.Byte[14] = Partner.StatusFlags; |
490 | ToFlightCtrl.Param.Byte[14] = Partner.StatusFlags; |
491 | ToFlightCtrl.Param.Byte[15] = Partner.StatusFlags2; |
491 | ToFlightCtrl.Param.Byte[15] = Partner.StatusFlags2; |
492 | ToFlightCtrl.Param.Byte[16] = Partner.StatusFlags3; |
492 | ToFlightCtrl.Param.Byte[16] = Partner.StatusFlags3; |
493 | // if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
493 | // if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
494 | // else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
494 | // else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
495 | break; |
495 | break; |
496 | case SPI_MISC: |
496 | case SPI_MISC: |
497 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
497 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
498 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
498 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
499 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
499 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
500 | ToFlightCtrl.Param.Byte[3] = 0; |
500 | ToFlightCtrl.Param.Byte[3] = 0; |
501 | ToFlightCtrl.Param.Byte[4] = NaviData.WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
501 | ToFlightCtrl.Param.Byte[4] = NaviData.WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
502 | ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints |
502 | ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints |
503 | ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance_dm / 10; |
503 | ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance_dm / 10; |
504 | ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
504 | ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
505 | ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex; |
505 | ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex; |
506 | ToFlightCtrl.Param.sInt[5] = GyroCompassCorrected / 10; // Bytes 10 & 11 |
506 | ToFlightCtrl.Param.sInt[5] = GyroCompassCorrected / 10; // Bytes 10 & 11 |
507 | ToFlightCtrl.Param.Byte[12] = CamCtrlCharacter; |
507 | ToFlightCtrl.Param.Byte[12] = CamCtrlCharacter; |
508 | break; |
508 | break; |
509 | 509 | ||
510 | case SPI_NCCMD_GPSINFO: |
510 | case SPI_NCCMD_GPSINFO: |
511 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
511 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
512 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
512 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
513 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
513 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
514 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
514 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
515 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance_dm; // dm //4&5 |
515 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance_dm; // dm //4&5 |
516 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
516 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
517 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
517 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
518 | if(FC_WP_EventChannel) |
518 | if(FC_WP_EventChannel) |
519 | { |
519 | { |
520 | LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
520 | LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
521 | NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; // to make sure that it will be logged |
521 | NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; // to make sure that it will be logged |
522 | Out1TriggerUpdateBlocked = 3; // makes sure that the right trigger-pos is sent in command 18 |
522 | Out1TriggerUpdateBlocked = 3; // makes sure that the right trigger-pos is sent in command 18 |
523 | NaviData_Out1Trigger.Longitude = NaviData.CurrentPosition.Longitude; |
523 | NaviData_Out1Trigger.Longitude = NaviData.CurrentPosition.Longitude; |
524 | NaviData_Out1Trigger.Latitude = NaviData.CurrentPosition.Latitude; |
524 | NaviData_Out1Trigger.Latitude = NaviData.CurrentPosition.Latitude; |
525 | } |
525 | } |
526 | FC_WP_EventChannel_Processed = 1; |
526 | FC_WP_EventChannel_Processed = 1; |
527 | //DebugOut.Analog[] = FC_WP_EventChannel; |
527 | //DebugOut.Analog[] = FC_WP_EventChannel; |
528 | // ++++++++++++++++++++++++++++++++++ |
528 | // ++++++++++++++++++++++++++++++++++ |
529 | // Waypoint event +++++++++++++++++++ |
529 | // Waypoint event +++++++++++++++++++ |
530 | // ++++++++++++++++++++++++++++++++++ |
530 | // ++++++++++++++++++++++++++++++++++ |
531 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp)) |
531 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp)) |
532 | { |
532 | { |
533 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
533 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
534 | NCParams_ClearValue(NCPARAMS_WP_EVENT_ONCE); |
534 | NCParams_ClearValue(NCPARAMS_WP_EVENT_ONCE); |
535 | NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
535 | NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
536 | } |
536 | } |
537 | else |
537 | else |
538 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_FOREVER, &tmp)) |
538 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_FOREVER, &tmp)) |
539 | { |
539 | { |
540 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
540 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
541 | if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
541 | if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
542 | } |
542 | } |
543 | else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
543 | else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
544 | // FC_WP_EventChannel = 0; // the GPS-Routine will set it again |
544 | // FC_WP_EventChannel = 0; // the GPS-Routine will set it again |
545 | // ++++++++++++++++++++++++++++++++++ |
545 | // ++++++++++++++++++++++++++++++++++ |
546 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
546 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
547 | { |
547 | { |
548 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
548 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
549 | } |
549 | } |
550 | else |
550 | else |
551 | { |
551 | { |
552 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
552 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
553 | } |
553 | } |
554 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
554 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
555 | { |
555 | { |
556 | ToFlightCtrl.Param.sInt[5] = tmp; |
556 | ToFlightCtrl.Param.sInt[5] = tmp; |
557 | } |
557 | } |
558 | else |
558 | else |
559 | { |
559 | { |
560 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint_dm; |
560 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint_dm; |
561 | } |
561 | } |
562 | //DebugOut.Analog[] = ToFlightCtrl.Param.Byte[8]; |
562 | //DebugOut.Analog[] = ToFlightCtrl.Param.Byte[8]; |
563 | break; |
563 | break; |
564 | case SPI_NCCMD_HOTT_INFO: |
564 | case SPI_NCCMD_HOTT_INFO: |
565 | if(NewWPL_Name) hott_index = 100; |
565 | if(NewWPL_Name) hott_index = 100; |
566 | switch(hott_index++) |
566 | switch(hott_index++) |
567 | { |
567 | { |
568 | case 0: |
568 | case 0: |
569 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
569 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
570 | //53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
570 | //53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
571 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
571 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
572 | ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
572 | ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
573 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
573 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
574 | //----------------------------- |
574 | //----------------------------- |
575 | ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
575 | ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
576 | i1 = GPSData.Speed_Ground; // in cm/sec |
576 | i1 = GPSData.Speed_Ground; // in cm/sec |
577 | i1 *= 36; |
577 | i1 *= 36; |
578 | i1 /= 1000; |
578 | i1 /= 1000; |
579 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
579 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
580 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
580 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
581 | //----------------------------- |
581 | //----------------------------- |
582 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
582 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
583 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
583 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
584 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
584 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
585 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
585 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
586 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
586 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
587 | i1 *= 100; |
587 | i1 *= 100; |
588 | // Minuten |
588 | // Minuten |
589 | i2 *= 6; |
589 | i2 *= 6; |
590 | i2 /= 10; |
590 | i2 /= 10; |
591 | i1 += i2 / 100000; |
591 | i1 += i2 / 100000; |
592 | i2 = i2 % 100000; |
592 | i2 = i2 % 100000; |
593 | i2 /= 10; |
593 | i2 /= 10; |
594 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
594 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
595 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
595 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
596 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
596 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
597 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
597 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
598 | break; |
598 | break; |
599 | case 1: |
599 | case 1: |
600 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
600 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
601 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
601 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
602 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
602 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
603 | //----------------------------- |
603 | //----------------------------- |
604 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
604 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
605 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
605 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
606 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
606 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
607 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
607 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
608 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
608 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
609 | i1 *= 100; |
609 | i1 *= 100; |
610 | // Minuten |
610 | // Minuten |
611 | i2 *= 6; |
611 | i2 *= 6; |
612 | i2 /= 10; |
612 | i2 /= 10; |
613 | i1 += i2 / 100000; |
613 | i1 += i2 / 100000; |
614 | i2 = i2 % 100000; |
614 | i2 = i2 % 100000; |
615 | i2 /= 10; |
615 | i2 /= 10; |
616 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
616 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
617 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
617 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
618 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
618 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
619 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
619 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
620 | //----------------------------- |
620 | //----------------------------- |
621 | i1 = NaviData.HomePositionDeviation.Distance_dm / 10; // dann in m |
621 | i1 = NaviData.HomePositionDeviation.Distance_dm / 10; // dann in m |
622 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
622 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
623 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
623 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
624 | break; |
624 | break; |
625 | case 2: |
625 | case 2: |
626 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
626 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
627 | ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
627 | ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
628 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
628 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
629 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
629 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
630 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
630 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
631 | break; |
631 | break; |
632 | case 3: |
632 | case 3: |
633 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1; |
633 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1; |
634 | ToFlightCtrl.Param.Byte[0] = 0; // index |
634 | ToFlightCtrl.Param.Byte[0] = 0; // index |
635 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
635 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
636 | //JetiExData[14].Value = 53 * 0x10000 + 23467; |
636 | //JetiExData[14].Value = 53 * 0x10000 + 23467; |
637 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40; |
637 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40; |
638 | else ToFlightCtrl.Param.Byte[5] = 0x00; |
638 | else ToFlightCtrl.Param.Byte[5] = 0x00; |
639 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L; |
639 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L; |
640 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
640 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
641 | i2 *= 6; |
641 | i2 *= 6; |
642 | i2 /= 1000; |
642 | i2 /= 1000; |
643 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
643 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
644 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
644 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
645 | break; |
645 | break; |
646 | case 4: |
646 | case 4: |
647 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2; |
647 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2; |
648 | ToFlightCtrl.Param.Byte[0] = 0; // index |
648 | ToFlightCtrl.Param.Byte[0] = 0; // index |
649 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
649 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
650 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60; |
650 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60; |
651 | else ToFlightCtrl.Param.Byte[5] = 0x20; |
651 | else ToFlightCtrl.Param.Byte[5] = 0x20; |
652 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L; |
652 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L; |
653 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
653 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
654 | i2 *= 6; |
654 | i2 *= 6; |
655 | i2 /= 1000; |
655 | i2 /= 1000; |
656 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
656 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
657 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
657 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
658 | hott_index = 0; |
658 | hott_index = 0; |
659 | break; |
659 | break; |
660 | 660 | ||
661 | case 100: |
661 | case 100: |
662 | ToFlightCtrl.Param.Byte[11] = HOTT_WPL_NAME; |
662 | ToFlightCtrl.Param.Byte[11] = HOTT_WPL_NAME; |
663 | ToFlightCtrl.Param.Byte[0] = 0; // index |
663 | ToFlightCtrl.Param.Byte[0] = 0; // index |
664 | ToFlightCtrl.Param.Byte[2] = WPL_Store.Name[0]; |
664 | ToFlightCtrl.Param.Byte[2] = WPL_Store.Name[0]; |
665 | ToFlightCtrl.Param.Byte[3] = WPL_Store.Name[1]; |
665 | ToFlightCtrl.Param.Byte[3] = WPL_Store.Name[1]; |
666 | ToFlightCtrl.Param.Byte[4] = WPL_Store.Name[2]; |
666 | ToFlightCtrl.Param.Byte[4] = WPL_Store.Name[2]; |
667 | ToFlightCtrl.Param.Byte[5] = WPL_Store.Name[3]; |
667 | ToFlightCtrl.Param.Byte[5] = WPL_Store.Name[3]; |
668 | ToFlightCtrl.Param.Byte[6] = WPL_Store.Name[4]; |
668 | ToFlightCtrl.Param.Byte[6] = WPL_Store.Name[4]; |
669 | ToFlightCtrl.Param.Byte[7] = WPL_Store.Name[5]; |
669 | ToFlightCtrl.Param.Byte[7] = WPL_Store.Name[5]; |
670 | ToFlightCtrl.Param.Byte[8] = WPL_Store.Name[6]; |
670 | ToFlightCtrl.Param.Byte[8] = WPL_Store.Name[6]; |
671 | ToFlightCtrl.Param.Byte[9] = WPL_Store.Name[7]; |
671 | ToFlightCtrl.Param.Byte[9] = WPL_Store.Name[7]; |
672 | ToFlightCtrl.Param.Byte[10]= WPL_Store.Name[8]; |
672 | ToFlightCtrl.Param.Byte[10]= WPL_Store.Name[8]; |
673 | ToFlightCtrl.Param.Byte[1] = 9; // how many |
673 | ToFlightCtrl.Param.Byte[1] = 9; // how many |
674 | NewWPL_Name = 0; |
674 | NewWPL_Name = 0; |
675 | hott_index = 0; |
675 | hott_index = 0; |
676 | break; |
676 | break; |
677 | default: |
677 | default: |
678 | ToFlightCtrl.Param.Byte[0] = 255; |
678 | ToFlightCtrl.Param.Byte[0] = 255; |
679 | hott_index = 0; |
679 | hott_index = 0; |
680 | break; |
680 | break; |
681 | } |
681 | } |
682 | break; |
682 | break; |
683 | default: |
683 | default: |
684 | break; |
684 | break; |
685 | // 0 = 0,1 |
685 | // 0 = 0,1 |
686 | // 1 = 2,3 |
686 | // 1 = 2,3 |
687 | // 2 = 4,5 |
687 | // 2 = 4,5 |
688 | // 3 = 6,7 |
688 | // 3 = 6,7 |
689 | // 4 = 8,9 |
689 | // 4 = 8,9 |
690 | // 5 = 10,11 |
690 | // 5 = 10,11 |
691 | } |
691 | } |
692 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
692 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
693 | switch(FromFlightCtrl.Command) |
693 | switch(FromFlightCtrl.Command) |
694 | { |
694 | { |
695 | case SPI_FCCMD_USER: |
695 | case SPI_FCCMD_USER: |
696 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
696 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
697 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
697 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
698 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
698 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
699 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
699 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
700 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
700 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
701 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
701 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
702 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
702 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
703 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
703 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
704 | FC.RealStatusFlags = FromFlightCtrl.Param.Byte[8]; |
704 | FC.RealStatusFlags = FromFlightCtrl.Param.Byte[8]; |
705 | if(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN) SimulationFlags = 0; // stop the simulation if the motors would really start |
705 | if(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN) SimulationFlags = 0; // stop the simulation if the motors would really start |
706 | 706 | ||
707 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
707 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
708 | { |
708 | { |
709 | if(ClearFCStatusFlags) |
709 | if(ClearFCStatusFlags) |
710 | { |
710 | { |
711 | FC.StatusFlags = 0; |
711 | FC.StatusFlags = 0; |
712 | ClearFCStatusFlags = 0; |
712 | ClearFCStatusFlags = 0; |
713 | } |
713 | } |
714 | } |
714 | } |
715 | FC.StatusFlags |= FC.RealStatusFlags; |
715 | FC.StatusFlags |= FC.RealStatusFlags; |
716 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
716 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
717 | { |
717 | { |
718 | HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
718 | HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
719 | CompassDirectionAtMotorStart = HeadFreeStartAngle; |
719 | CompassDirectionAtMotorStart = HeadFreeStartAngle; |
720 | Compass_Init(); |
720 | Compass_Init(); |
721 | FCCalibActive = 15; |
721 | FCCalibActive = 15; |
722 | FC_is_Calibrated = 0; |
722 | FC_is_Calibrated = 0; |
723 | FreqNewGpsData = 50; |
723 | FreqNewGpsData = 50; |
724 | } |
724 | } |
725 | else |
725 | else |
726 | { |
726 | { |
727 | if(FCCalibActive) |
727 | if(FCCalibActive) |
728 | { |
728 | { |
729 | if(--FCCalibActive == 0) |
729 | if(--FCCalibActive == 0) |
730 | { |
730 | { |
731 | FC_is_Calibrated = 1; |
731 | FC_is_Calibrated = 1; |
732 | Compass_Check(); |
732 | Compass_Check(); |
733 | } |
733 | } |
734 | } |
734 | } |
735 | } |
735 | } |
736 | if(FC.StatusFlags & FC_STATUS_START) |
736 | if(FC.StatusFlags & FC_STATUS_START) |
737 | { |
737 | { |
738 | if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
738 | if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
739 | else HeadFreeStartAngle = GyroCompassCorrected; |
739 | else HeadFreeStartAngle = GyroCompassCorrected; |
740 | CompassDirectionAtMotorStart = HeadFreeStartAngle; |
740 | CompassDirectionAtMotorStart = HeadFreeStartAngle; |
741 | } |
741 | } |
742 | 742 | ||
743 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
743 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
744 | { |
744 | { |
745 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
745 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
746 | { |
746 | { |
747 | if((NaviData.HomePositionDeviation.Distance_dm > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
747 | if((NaviData.HomePositionDeviation.Distance_dm > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
748 | { |
748 | { |
749 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
749 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
750 | } |
750 | } |
751 | else // Ansonsten die aktuelle Richtung übernehmen |
751 | else // Ansonsten die aktuelle Richtung übernehmen |
752 | HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
752 | HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
753 | } |
753 | } |
754 | } |
754 | } |
755 | NaviData.FCStatusFlags = FC.StatusFlags; |
755 | NaviData.FCStatusFlags = FC.StatusFlags; |
756 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
756 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
757 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[9]; |
757 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[9]; |
758 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
758 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
759 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
759 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
760 | else |
760 | else |
761 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
761 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
762 | 762 | ||
763 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
763 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
764 | else |
764 | else |
765 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
765 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
766 | //DebugOut.Analog[] = (NaviData.FCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE); |
766 | //DebugOut.Analog[] = (NaviData.FCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE); |
767 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
767 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
768 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
768 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
769 | FC.BAT_Voltage = FromFlightCtrl.Param.Int[5]; // 10 & 11 |
769 | FC.BAT_Voltage = FromFlightCtrl.Param.Int[5]; // 10 & 11 |
770 | DebugOut.Analog[7] = FC.BAT_Voltage; |
770 | DebugOut.Analog[7] = FC.BAT_Voltage; |
771 | DebugOut.Analog[5] = FC.StatusFlags; |
771 | DebugOut.Analog[5] = FC.StatusFlags; |
772 | NaviData.UBat = (u8) FC.BAT_Voltage; // Achtung: die (u8) NaviData.UBat kann überlaufen -> das KopterTool müsste dann 25,5V drauf rechnen |
772 | NaviData.UBat = (u8) FC.BAT_Voltage; // Achtung: die (u8) NaviData.UBat kann überlaufen -> das KopterTool müsste dann 25,5V drauf rechnen |
773 | break; |
773 | break; |
774 | case SPI_FCCMD_BL_ACCU: |
774 | case SPI_FCCMD_BL_ACCU: |
775 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
775 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
776 | DebugOut.Analog[8] = FC.BAT_Current; |
776 | DebugOut.Analog[8] = FC.BAT_Current; |
777 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[3]; |
777 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[3]; |
778 | if(BL_MinOfMaxPWM < Logging_BL_MinOfMaxPWM) Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until logged |
778 | if(BL_MinOfMaxPWM < Logging_BL_MinOfMaxPWM) Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until logged |
779 | if(BL_MinOfMaxPWM < ErrorCheck_BL_MinOfMaxPWM) ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until Error processed |
779 | if(BL_MinOfMaxPWM < ErrorCheck_BL_MinOfMaxPWM) ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until Error processed |
780 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[4]; |
780 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[4]; |
781 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[5]; |
781 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[5]; |
782 | //0x40 |
782 | //0x40 |
783 | //0x20 |
783 | //0x20 |
784 | //0x10 |
784 | //0x10 |
785 | if(FromFlightCtrl.Param.Byte[2] & 0x80) // this Flag marks a changed Out1 |
785 | if(FromFlightCtrl.Param.Byte[2] & 0x80) // this Flag marks a changed Out1 |
786 | { |
786 | { |
787 | Out1TriggerUpdateNewData = 1; |
787 | Out1TriggerUpdateNewData = 1; |
788 | if(!Out1TriggerUpdateBlocked) |
788 | if(!Out1TriggerUpdateBlocked) |
789 | { |
789 | { |
790 | NaviData_Out1Trigger.Longitude = NaviData.CurrentPosition.Longitude; |
790 | NaviData_Out1Trigger.Longitude = NaviData.CurrentPosition.Longitude; |
791 | NaviData_Out1Trigger.Latitude = NaviData.CurrentPosition.Latitude; |
791 | NaviData_Out1Trigger.Latitude = NaviData.CurrentPosition.Latitude; |
792 | } |
792 | } |
793 | Out1TriggerUpdateBlocked = 0; |
793 | Out1TriggerUpdateBlocked = 0; |
794 | } |
794 | } |
795 | if(Out1TriggerUpdateBlocked) Out1TriggerUpdateBlocked--; |
795 | if(Out1TriggerUpdateBlocked) Out1TriggerUpdateBlocked--; |
796 | index = FromFlightCtrl.Param.Byte[2] & 0x0f; //MAX_MOTORS |
796 | index = FromFlightCtrl.Param.Byte[2] & 0x0f; //MAX_MOTORS |
797 | if(AmountOfMotors < index+1) AmountOfMotors = index+1; |
797 | if(AmountOfMotors < index+1) AmountOfMotors = index+1; |
798 | Motor[index].NotReadyCnt = FromFlightCtrl.Param.Byte[6]; |
798 | Motor[index].NotReadyCnt = FromFlightCtrl.Param.Byte[6]; |
799 | Motor_Version[index] = FromFlightCtrl.Param.Byte[7]; |
799 | Motor_Version[index] = FromFlightCtrl.Param.Byte[7]; |
800 | Motor[index].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
800 | Motor[index].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
801 | Motor[index].State = FromFlightCtrl.Param.Byte[9]; |
801 | Motor[index].State = FromFlightCtrl.Param.Byte[9]; |
802 | Motor[index].Temperature = FromFlightCtrl.Param.Byte[10]; |
802 | Motor[index].Temperature = FromFlightCtrl.Param.Byte[10]; |
803 | Motor[index].Current = FromFlightCtrl.Param.Byte[11]; |
803 | Motor[index].Current = FromFlightCtrl.Param.Byte[11]; |
804 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
804 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
805 | { |
805 | { |
806 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
806 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
807 | } |
807 | } |
808 | if(!(SimulationFlags & SIMULATION_ACTIVE)) NaviData.Current = FC.BAT_Current; |
808 | if(!(SimulationFlags & SIMULATION_ACTIVE)) NaviData.Current = FC.BAT_Current; |
809 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
809 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
810 | FromFlightCtrl_AccNick = FromFlightCtrl.Param.sInt[6]; |
810 | FromFlightCtrl_AccNick = FromFlightCtrl.Param.sInt[6]; |
811 | FromFlightCtrl_AccRoll = FromFlightCtrl.Param.sInt[7]; |
811 | FromFlightCtrl_AccRoll = FromFlightCtrl.Param.sInt[7]; |
812 | DebugOut.Analog[2] = FromFlightCtrl_AccNick; |
812 | DebugOut.Analog[2] = FromFlightCtrl_AccNick; |
813 | DebugOut.Analog[3] = FromFlightCtrl_AccRoll; |
813 | DebugOut.Analog[3] = FromFlightCtrl_AccRoll; |
814 | break; |
814 | break; |
815 | case SPI_FCCMD_PARAMETER1: |
815 | case SPI_FCCMD_PARAMETER1: |
816 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[0]; |
816 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[0]; |
817 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
817 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
818 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
818 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
819 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
819 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
820 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
820 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
821 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
821 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
822 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
822 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
823 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
823 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
824 | // CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
824 | // CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
825 | Parameter.NaviMaxFlyingRange = FromFlightCtrl.Param.Byte[8]; |
825 | Parameter.NaviMaxFlyingRange = FromFlightCtrl.Param.Byte[8]; |
826 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
826 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
827 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
827 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
828 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
828 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
829 | break; |
829 | break; |
830 | case SPI_FCCMD_PARAMETER2: |
830 | case SPI_FCCMD_PARAMETER2: |
831 | CHK_POTI_MM(FC.AutoPhotoDistance,FromFlightCtrl.Param.Byte[0],0,255); |
831 | CHK_POTI_MM(FC.AutoPhotoDistance,FromFlightCtrl.Param.Byte[0],0,255); |
832 | if(FromFlightCtrl.Param.Byte[1]) |
832 | if(FromFlightCtrl.Param.Byte[1]) |
833 | { |
833 | { |
834 | FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
834 | FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
835 | } |
835 | } |
836 | if(NaviData_Flags_SpeakHoTT_Processed) |
836 | if(NaviData_Flags_SpeakHoTT_Processed) |
837 | { |
837 | { |
838 | NaviData_Flags.SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared after the Uart-Trasmitting |
838 | NaviData_Flags.SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared after the Uart-Trasmitting |
839 | NaviData_Flags_SpeakHoTT_Processed = 0; |
839 | NaviData_Flags_SpeakHoTT_Processed = 0; |
840 | } |
840 | } |
841 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; // 2 & 3 |
841 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; // 2 & 3 |
842 | Parameter.FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4]; |
842 | Parameter.FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4]; |
843 | if(FromFlightCtrl.Param.Byte[5]) FromFC_LoadWP_List = FromFlightCtrl.Param.Byte[5]; |
843 | if(FromFlightCtrl.Param.Byte[5]) FromFC_LoadWP_List = FromFlightCtrl.Param.Byte[5]; |
844 | if(FromFlightCtrl.Param.Byte[6]) FromFC_Load_SinglePoint = FromFlightCtrl.Param.Byte[6]; |
844 | if(FromFlightCtrl.Param.Byte[6]) FromFC_Load_SinglePoint = FromFlightCtrl.Param.Byte[6]; |
845 | if(FromFlightCtrl.Param.Byte[7]) FromFC_Save_SinglePoint = FromFlightCtrl.Param.Byte[7]; |
845 | if(FromFlightCtrl.Param.Byte[7]) FromFC_Save_SinglePoint = FromFlightCtrl.Param.Byte[7]; |
846 | CompassSetpoint = FromFlightCtrl.Param.sInt[4] * 10; // 8 & 9 |
846 | CompassSetpoint = FromFlightCtrl.Param.sInt[4] * 10; // 8 & 9 |
847 | CompassSetpointCorrected = (3600 + CompassSetpoint + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
847 | CompassSetpointCorrected = (3600 + CompassSetpoint + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
848 | FC.StatusFlags3 = FromFlightCtrl.Param.Byte[10]; |
848 | FC.StatusFlags3 = FromFlightCtrl.Param.Byte[10]; |
849 | Parameter.SingleWpSpeed = FromFlightCtrl.Param.Byte[11]; |
849 | Parameter.SingleWpSpeed = FromFlightCtrl.Param.Byte[11]; |
850 | break; |
850 | break; |
851 | case SPI_FCCMD_STICK: |
851 | case SPI_FCCMD_STICK: |
852 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
852 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
853 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
853 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
854 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
854 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
855 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
855 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
856 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
856 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
857 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
857 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
858 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
858 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
859 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
859 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
860 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
860 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
861 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
861 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
862 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
862 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
863 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
863 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
864 | CHK_POTI_MM(WaypointAcceleration,WaypointAccelerationSetting,0,255); // that could be a Poti-Value |
864 | CHK_POTI_MM(WaypointAcceleration,WaypointAccelerationSetting,0,255); // that could be a Poti-Value |
865 | break; |
865 | break; |
866 | case SPI_FCCMD_STICK2: |
866 | case SPI_FCCMD_STICK2: |
867 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
867 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
868 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
868 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
869 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
869 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
870 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
870 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
871 | memcpy((u8 *) &(PPM_In[1]), (u8 *) &FromFlightCtrl.Param.sByte[4], 16); // 16 Bytes PPM-Data |
871 | memcpy((u8 *) &(PPM_In[1]), (u8 *) &FromFlightCtrl.Param.sByte[4], 16); // 16 Bytes PPM-Data |
872 | PPM_In[0] = 0; |
872 | PPM_In[0] = 0; |
873 | break; |
873 | break; |
874 | case SPI_FCCMD_MISC: |
874 | case SPI_FCCMD_MISC: |
875 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
875 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
876 | { // put only new CompassCalState into queue to send via I2C |
876 | { // put only new CompassCalState into queue to send via I2C |
877 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
877 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
878 | { |
878 | { |
879 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
879 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
880 | Compass_SetCalState(CompassCalState); |
880 | Compass_SetCalState(CompassCalState); |
881 | } |
881 | } |
882 | // else CompassCalState = 0; |
882 | // else CompassCalState = 0; |
883 | } |
883 | } |
884 | HoverGas = FromFlightCtrl.Param.Byte[1]; |
884 | HoverGas = FromFlightCtrl.Param.Byte[1]; |
885 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter_20cm)) / 2; // provisorisch |
885 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter_5cm)) / 2; // provisorisch |
886 | FC.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
886 | FC.Altimeter_5cm = FromFlightCtrl.Param.sInt[1]; // in 5cm |
887 | if(!(SimulationFlags & SIMULATION_ACTIVE)) NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
887 | if(!(SimulationFlags & SIMULATION_ACTIVE)) NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
888 | FC.Error[0] |= FromFlightCtrl.Param.Byte[6]; |
888 | FC.Error[0] |= FromFlightCtrl.Param.Byte[6]; |
889 | FC.Error[1] |= FromFlightCtrl.Param.Byte[7]; |
889 | FC.Error[1] |= FromFlightCtrl.Param.Byte[7]; |
890 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
890 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
891 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
891 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
892 | if(FC.Error[0] || FC.Error[1] /* || FC.Error[2] || FC.Error[3] || FC.Error[4]*/) DebugOut.StatusRed |= AMPEL_FC; |
892 | if(FC.Error[0] || FC.Error[1] /* || FC.Error[2] || FC.Error[3] || FC.Error[4]*/) DebugOut.StatusRed |= AMPEL_FC; |
893 | else DebugOut.StatusRed &= ~AMPEL_FC; |
893 | else DebugOut.StatusRed &= ~AMPEL_FC; |
894 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[8]; |
894 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[8]; |
895 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
895 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
896 | if(FC.RC_Quality > 160) NaviData.RC_Quality = 200; else NaviData.RC_Quality = FC.RC_Quality; |
896 | if(FC.RC_Quality > 160) NaviData.RC_Quality = 200; else NaviData.RC_Quality = FC.RC_Quality; |
897 | NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10]; |
897 | NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10]; |
898 | //DebugOut.Analog[] = NC_Wait_for_LED; |
898 | //DebugOut.Analog[] = NC_Wait_for_LED; |
899 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
899 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
900 | if(LoggingGasCnt == 0) LoggingGasFilter = 0; |
900 | if(LoggingGasCnt == 0) LoggingGasFilter = 0; |
901 | LoggingGasFilter += (u32) FromFlightCtrl.Param.Byte[11]; |
901 | LoggingGasFilter += (u32) FromFlightCtrl.Param.Byte[11]; |
902 | LoggingGasCnt++; |
902 | LoggingGasCnt++; |
903 | break; |
903 | break; |
904 | 904 | ||
905 | case SPI_FCCMD_VERSION: // slow! |
905 | case SPI_FCCMD_VERSION: // slow! |
906 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
906 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
907 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
907 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
908 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
908 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
909 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
909 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
910 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
910 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
911 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[5]; |
911 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[5]; |
912 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[6]; |
912 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[6]; |
913 | CHK_POTI_MM(Parameter.AutoPhotoAltitudes,FromFlightCtrl.Param.Byte[7],0,255); |
913 | CHK_POTI_MM(Parameter.AutoPhotoAltitudes,FromFlightCtrl.Param.Byte[7],0,255); |
914 | UART_VersionInfo.BL_Firmware = FromFlightCtrl.Param.Byte[8]; |
914 | UART_VersionInfo.BL_Firmware = FromFlightCtrl.Param.Byte[8]; |
915 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
915 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
916 | FlugMinutenGesamt = FromFlightCtrl.Param.Int[5]; // 10 & 11 |
916 | FlugMinutenGesamt = FromFlightCtrl.Param.Int[5]; // 10 & 11 |
917 | IamMaster = FromFlightCtrl.Param.Byte[12]; |
917 | IamMaster = FromFlightCtrl.Param.Byte[12]; |
918 | break; |
918 | break; |
919 | case SPI_FCCMD_NEUTRAL: // slow! |
919 | case SPI_FCCMD_NEUTRAL: // slow! |
920 | FC.AdNeutralNick = FromFlightCtrl.Param.Int[0]; |
920 | FC.AdNeutralNick = FromFlightCtrl.Param.Int[0]; |
921 | FC.AdNeutralRoll = FromFlightCtrl.Param.Int[1]; |
921 | FC.AdNeutralRoll = FromFlightCtrl.Param.Int[1]; |
922 | FC.AdNeutralYaw = FromFlightCtrl.Param.Int[2]; |
922 | FC.AdNeutralYaw = FromFlightCtrl.Param.Int[2]; |
923 | Parameter.Driftkomp = FromFlightCtrl.Param.Byte[6]; |
923 | Parameter.Driftkomp = FromFlightCtrl.Param.Byte[6]; |
924 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[7]; |
924 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[7]; |
925 | Parameter.ReceiverType = FromFlightCtrl.Param.Byte[8]; |
925 | Parameter.ReceiverType = FromFlightCtrl.Param.Byte[8]; |
926 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[9],0,255); |
926 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[9],0,255); |
927 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[10],0,255); |
927 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[10],0,255); |
928 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[11],0,255); |
928 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[11],0,255); |
929 | break; |
929 | break; |
930 | case SPI_FCCMD_SLOW2: // slow! |
930 | case SPI_FCCMD_SLOW2: // slow! |
931 | FC.BoatNeutralNick = FromFlightCtrl.Param.Int[0]; // 0 & 1 |
931 | FC.BoatNeutralNick = FromFlightCtrl.Param.Int[0]; // 0 & 1 |
932 | FC.BoatNeutralRoll = FromFlightCtrl.Param.Int[1]; // 2 & 3 |
932 | FC.BoatNeutralRoll = FromFlightCtrl.Param.Int[1]; // 2 & 3 |
933 | FC.BoatNeutralYaw = FromFlightCtrl.Param.Int[2]; // 4 & 5 |
933 | FC.BoatNeutralYaw = FromFlightCtrl.Param.Int[2]; // 4 & 5 |
934 | Parameter.CamOrientation = FromFlightCtrl.Param.Byte[6]; |
934 | Parameter.CamOrientation = FromFlightCtrl.Param.Byte[6]; |
935 | if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188) |
935 | if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188) |
936 | { |
936 | { |
937 | FC.FromFC_DisableDeclination = 1; |
937 | FC.FromFC_DisableDeclination = 1; |
938 | FC.FromFC_CompassOffset = 10 * (s8) (FromFlightCtrl.Param.Byte[7] - 128); |
938 | FC.FromFC_CompassOffset = 10 * (s8) (FromFlightCtrl.Param.Byte[7] - 128); |
939 | GeoMagDec = 0; |
939 | GeoMagDec = 0; |
940 | } |
940 | } |
941 | else |
941 | else |
942 | { |
942 | { |
943 | FC.FromFC_DisableDeclination = 0; |
943 | FC.FromFC_DisableDeclination = 0; |
944 | FC.FromFC_CompassOffset = 10 * FromFlightCtrl.Param.sByte[7]; |
944 | FC.FromFC_CompassOffset = 10 * FromFlightCtrl.Param.sByte[7]; |
945 | } |
945 | } |
946 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
946 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
947 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
947 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
948 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
948 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
949 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
949 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
950 | break; |
950 | break; |
951 | case SPI_FCCMD_SLOW3: // slow! |
951 | case SPI_FCCMD_SLOW3: // slow! |
952 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[0]; |
952 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[0]; |
953 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[1]; |
953 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[1]; |
954 | Parameter.DescendRange = FromFlightCtrl.Param.Byte[2]; |
954 | Parameter.DescendRange = FromFlightCtrl.Param.Byte[2]; |
955 | Parameter.MaximumAltitude = FromFlightCtrl.Param.Byte[3]; |
955 | Parameter.MaximumAltitude = FromFlightCtrl.Param.Byte[3]; |
956 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[4]; |
956 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[4]; |
957 | Parameter.HomeYawMode = ((ServoParams.CompInvert & 0x18) >> 3); |
957 | Parameter.HomeYawMode = ((ServoParams.CompInvert & 0x18) >> 3); |
958 | NaviData_Home.LipoCellCount = FromFlightCtrl.Param.Byte[5]; |
958 | NaviData_Home.LipoCellCount = FromFlightCtrl.Param.Byte[5]; |
959 | if(UART_VersionInfo.HWMajor >= 30) NaviData_Volatile.ShutterCounter = TrigLogging.Count; |
959 | if(UART_VersionInfo.HWMajor >= 30) NaviData_Volatile.ShutterCounter = TrigLogging.Count; |
960 | else NaviData_Volatile.ShutterCounter = FromFlightCtrl.Param.Int[3]; // 6 & 7 |
960 | else NaviData_Volatile.ShutterCounter = FromFlightCtrl.Param.Int[3]; // 6 & 7 |
961 | LowVoltageLandingActive = FromFlightCtrl.Param.Byte[8]; |
961 | LowVoltageLandingActive = FromFlightCtrl.Param.Byte[8]; |
962 | Parameter.FailSafeTime = FromFlightCtrl.Param.Byte[9]; |
962 | Parameter.FailSafeTime = FromFlightCtrl.Param.Byte[9]; |
963 | // DebugOut.Analog[] = NaviData_Volatile.ShutterCounter; |
963 | // DebugOut.Analog[] = NaviData_Volatile.ShutterCounter; |
964 | // 8 |
964 | // 8 |
965 | // 9 |
965 | // 9 |
966 | // 10 |
966 | // 10 |
967 | // 11 |
967 | // 11 |
968 | break; |
968 | break; |
969 | 969 | ||
970 | default: |
970 | default: |
971 | break; |
971 | break; |
972 | } |
972 | } |
973 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
973 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
974 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
974 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
975 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
975 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
976 | // every time we got new data from the FC via SPI call the navigation routine |
976 | // every time we got new data from the FC via SPI call the navigation routine |
977 | // and update GPSStick that are returned to FC |
977 | // and update GPSStick that are returned to FC |
978 | SPI_RxBuffer_Request = 0; |
978 | SPI_RxBuffer_Request = 0; |
979 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
979 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
980 | ClearFCStatusFlags = 1; |
980 | ClearFCStatusFlags = 1; |
981 | if(counter) |
981 | if(counter) |
982 | { |
982 | { |
983 | counter--; // count down to enable servo |
983 | counter--; // count down to enable servo |
984 | if(!counter) TIMER2_Init(); // enable Servo Output |
984 | if(!counter) TIMER2_Init(); // enable Servo Output |
985 | } |
985 | } |
986 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
986 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
987 | 987 | ||
988 | } // EOF if(SPI_RxBuffer_Request) |
988 | } // EOF if(SPI_RxBuffer_Request) |
989 | else // no new SPI data |
989 | else // no new SPI data |
990 | { |
990 | { |
991 | if(CheckDelay(timeout) && (counter == 0)) |
991 | if(CheckDelay(timeout) && (counter == 0)) |
992 | { |
992 | { |
993 | TIMER2_Deinit(); // disable Servo Output |
993 | TIMER2_Deinit(); // disable Servo Output |
994 | counter = 50; // reset counter for enabling Servo Output |
994 | counter = 50; // reset counter for enabling Servo Output |
995 | } |
995 | } |
996 | } |
996 | } |
997 | } |
997 | } |
998 | 998 | ||
999 | //------------------------------------------------------ |
999 | //------------------------------------------------------ |
1000 | void SPI0_GetFlightCtrlVersion(void) |
1000 | void SPI0_GetFlightCtrlVersion(void) |
1001 | { |
1001 | { |
1002 | u32 timeout; |
1002 | u32 timeout; |
1003 | u8 repeat; |
1003 | u8 repeat; |
1004 | u8 msg[64]; |
1004 | u8 msg[64]; |
1005 | 1005 | ||
1006 | UART1_PutString("\r\n Looking for FlightControl"); |
1006 | UART1_PutString("\r\n Looking for FlightControl"); |
1007 | FC_Version.Major = 0xFF; |
1007 | FC_Version.Major = 0xFF; |
1008 | FC_Version.Minor = 0xFF; |
1008 | FC_Version.Minor = 0xFF; |
1009 | FC_Version.Patch = 0xFF; |
1009 | FC_Version.Patch = 0xFF; |
1010 | FC_Version.Compatible = 0xFF; |
1010 | FC_Version.Compatible = 0xFF; |
1011 | 1011 | ||
1012 | // polling FC version info |
1012 | // polling FC version info |
1013 | repeat = 0; |
1013 | repeat = 0; |
1014 | do |
1014 | do |
1015 | { |
1015 | { |
1016 | timeout = SetDelay(250); |
1016 | timeout = SetDelay(250); |
1017 | do |
1017 | do |
1018 | { |
1018 | { |
1019 | SPI0_UpdateBuffer(); |
1019 | SPI0_UpdateBuffer(); |
1020 | if (FC_Version.Major != 0xFF) break; |
1020 | if (FC_Version.Major != 0xFF) break; |
1021 | }while (!CheckDelay(timeout)); |
1021 | }while (!CheckDelay(timeout)); |
1022 | UART1_PutString("."); |
1022 | UART1_PutString("."); |
1023 | repeat++; |
1023 | repeat++; |
1024 | FCCalibActive = 0; |
1024 | FCCalibActive = 0; |
1025 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
1025 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
1026 | // if we got it |
1026 | // if we got it |
1027 | if (FC_Version.Major != 0xFF) |
1027 | if (FC_Version.Major != 0xFF) |
1028 | { |
1028 | { |
1029 | sprintf(msg, " FC V%d.%02d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
1029 | sprintf(msg, " FC V%d.%02d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
1030 | UART1_PutString(msg); |
1030 | UART1_PutString(msg); |
1031 | } |
1031 | } |
1032 | else UART1_PutString("\n\r not found!"); |
1032 | else UART1_PutString("\n\r not found!"); |
1033 | 1033 | ||
1034 | //sprintf(msg, "\n\r size: HugeBlockFromFC %i",sizeof(HugeBlockFromFC)); |
1034 | //sprintf(msg, "\n\r size: HugeBlockFromFC %i",sizeof(HugeBlockFromFC)); |
1035 | //UART1_PutString(msg); |
1035 | //UART1_PutString(msg); |
1036 | } |
1036 | } |
1037 | 1037 | ||
1038 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1038 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1039 | // + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
1039 | // + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
1040 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1040 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1041 | u16 BL3_Current(u8 who) // in 0,1A |
1041 | u16 BL3_Current(u8 who) // in 0,1A |
1042 | { |
1042 | { |
1043 | if(Motor[who].Current <= 200) return((u16) Motor[who].Current); |
1043 | if(Motor[who].Current <= 200) return((u16) Motor[who].Current); |
1044 | else |
1044 | else |
1045 | { |
1045 | { |
1046 | if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (u16) (Motor[who].Current - 200)); |
1046 | if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (u16) (Motor[who].Current - 200)); |
1047 | else return((u16) Motor[who].Current); |
1047 | else return((u16) Motor[who].Current); |
1048 | } |
1048 | } |
1049 | } |
1049 | } |
1050 | 1050 | ||
1051 | 1051 |