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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 40 | // + with our written permission |
40 | // + with our written permission |
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
| 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 44 | // |
44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | 57 | ||
| 58 | #include <string.h> |
58 | #include <string.h> |
| 59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
| 60 | #include "led.h" |
60 | #include "led.h" |
| 61 | #include "gps.h" |
61 | #include "gps.h" |
| 62 | #include "uart1.h" |
62 | #include "uart1.h" |
| 63 | #include "spi_slave.h" |
63 | #include "spi_slave.h" |
| 64 | #include "compass.h" |
64 | #include "compass.h" |
| 65 | #include "timer1.h" |
65 | #include "timer1.h" |
| 66 | #include "timer2.h" |
66 | #include "timer2.h" |
| 67 | #include "config.h" |
67 | #include "config.h" |
| 68 | #include "main.h" |
68 | #include "main.h" |
| 69 | #include "compass.h" |
69 | #include "compass.h" |
| 70 | #include "params.h" |
70 | #include "params.h" |
| 71 | 71 | ||
| 72 | #define SPI_RXSYNCBYTE1 0xAA |
72 | #define SPI_RXSYNCBYTE1 0xAA |
| 73 | #define SPI_RXSYNCBYTE2 0x83 |
73 | #define SPI_RXSYNCBYTE2 0x83 |
| 74 | #define SPI_TXSYNCBYTE1 0x81 |
74 | #define SPI_TXSYNCBYTE1 0x81 |
| 75 | #define SPI_TXSYNCBYTE2 0x55 |
75 | #define SPI_TXSYNCBYTE2 0x55 |
| 76 | 76 | ||
| 77 | //communication packets |
77 | //communication packets |
| 78 | FromFlightCtrl_t FromFlightCtrl; |
78 | FromFlightCtrl_t FromFlightCtrl; |
| 79 | ToFlightCtrl_t ToFlightCtrl; |
79 | ToFlightCtrl_t ToFlightCtrl; |
| 80 | #define SPI0_TIMEOUT 500 // 500ms |
80 | #define SPI0_TIMEOUT 500 // 500ms |
| 81 | volatile u32 SPI0_Timeout = 0; |
81 | volatile u32 SPI0_Timeout = 0; |
| 82 | 82 | ||
| 83 | // tx packet buffer |
83 | // tx packet buffer |
| 84 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
84 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
| 85 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
85 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
| 86 | volatile u8 SPI_TxBufferIndex = 0; |
86 | volatile u8 SPI_TxBufferIndex = 0; |
| 87 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
87 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
| 88 | 88 | ||
| 89 | // rx packet buffer |
89 | // rx packet buffer |
| 90 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
90 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
| 91 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
91 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
| 92 | volatile u8 SPI_RxBufferIndex = 0; |
92 | volatile u8 SPI_RxBufferIndex = 0; |
| 93 | volatile u8 SPI_RxBuffer_Request = 0; |
93 | volatile u8 SPI_RxBuffer_Request = 0; |
| 94 | #define SPI_COMMAND_INDEX 0 |
94 | #define SPI_COMMAND_INDEX 0 |
| 95 | 95 | ||
| 96 | s32 Kalman_K = 32; |
96 | s32 Kalman_K = 32; |
| 97 | s32 Kalman_MaxDrift = 5 * 16; |
97 | s32 Kalman_MaxDrift = 5 * 16; |
| 98 | s32 Kalman_MaxFusion = 64; |
98 | s32 Kalman_MaxFusion = 64; |
| 99 | s32 ToFcGpsZ = 0; |
99 | s32 ToFcGpsZ = 0; |
| 100 | 100 | ||
| 101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
| 102 | u8 SPI_CommandCounter = 0; |
102 | u8 SPI_CommandCounter = 0; |
| 103 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
103 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| 104 | s32 HeadFreeStartAngle = 0; |
104 | s32 HeadFreeStartAngle = 0; |
| 105 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
105 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
| 106 | u32 ToFC_AltitudeRate = 0; |
106 | u32 ToFC_AltitudeRate = 0; |
| 107 | s32 ToFC_AltitudeSetpoint = 0; |
107 | s32 ToFC_AltitudeSetpoint = 0; |
| - | 108 | u8 FromFC_VarioCharacter = ' '; |
|
| 108 | 109 | ||
| 109 | SPI_Version_t FC_Version; |
110 | SPI_Version_t FC_Version; |
| 110 | 111 | ||
| 111 | //-------------------------------------------------------------- |
112 | //-------------------------------------------------------------- |
| 112 | void SSP0_IRQHandler(void) |
113 | void SSP0_IRQHandler(void) |
| 113 | { |
114 | { |
| 114 | static u8 rxchksum = 0; |
115 | static u8 rxchksum = 0; |
| 115 | u8 rxdata; |
116 | u8 rxdata; |
| 116 | 117 | ||
| 117 | #define SPI_SYNC1 0 |
118 | #define SPI_SYNC1 0 |
| 118 | #define SPI_SYNC2 1 |
119 | #define SPI_SYNC2 1 |
| 119 | #define SPI_DATA 2 |
120 | #define SPI_DATA 2 |
| 120 | static u8 SPI_State = SPI_SYNC1; |
121 | static u8 SPI_State = SPI_SYNC1; |
| 121 | 122 | ||
| 122 | IENABLE; |
123 | IENABLE; |
| 123 | 124 | ||
| 124 | // clear pending bits |
125 | // clear pending bits |
| 125 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
126 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 126 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
127 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| 127 | 128 | ||
| 128 | // while RxFIFO not empty |
129 | // while RxFIFO not empty |
| 129 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
130 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
| 130 | { |
131 | { |
| 131 | rxdata = SSP0->DR; // catch the received byte |
132 | rxdata = SSP0->DR; // catch the received byte |
| 132 | // Fill TxFIFO while its not full or end of packet is reached |
133 | // Fill TxFIFO while its not full or end of packet is reached |
| 133 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
134 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| 134 | { |
135 | { |
| 135 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
136 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| 136 | { |
137 | { |
| 137 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
138 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| 138 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
139 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| 139 | SPI_TxBufferIndex++; // pointer to next byte |
140 | SPI_TxBufferIndex++; // pointer to next byte |
| 140 | } |
141 | } |
| 141 | else // end of packet is reached reset and copy data to tx buffer |
142 | else // end of packet is reached reset and copy data to tx buffer |
| 142 | { |
143 | { |
| 143 | SPI_TxBufferIndex = 0; // reset buffer index |
144 | SPI_TxBufferIndex = 0; // reset buffer index |
| 144 | ToFlightCtrl.Chksum = 0; // initialize checksum |
145 | ToFlightCtrl.Chksum = 0; // initialize checksum |
| 145 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
146 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
| 146 | BeepTime = 0; // reset local beeptime |
147 | BeepTime = 0; // reset local beeptime |
| 147 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
148 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
| 148 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
149 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 149 | } |
150 | } |
| 150 | } |
151 | } |
| 151 | switch (SPI_State) |
152 | switch (SPI_State) |
| 152 | { |
153 | { |
| 153 | case SPI_SYNC1: |
154 | case SPI_SYNC1: |
| 154 | SPI_RxBufferIndex = 0; // reset buffer index |
155 | SPI_RxBufferIndex = 0; // reset buffer index |
| 155 | rxchksum = rxdata; // init checksum |
156 | rxchksum = rxdata; // init checksum |
| 156 | if (rxdata == SPI_RXSYNCBYTE1) |
157 | if (rxdata == SPI_RXSYNCBYTE1) |
| 157 | { // 1st syncbyte ok |
158 | { // 1st syncbyte ok |
| 158 | SPI_State = SPI_SYNC2; // step to sync2 |
159 | SPI_State = SPI_SYNC2; // step to sync2 |
| 159 | } |
160 | } |
| 160 | break; |
161 | break; |
| 161 | case SPI_SYNC2: |
162 | case SPI_SYNC2: |
| 162 | if (rxdata == SPI_RXSYNCBYTE2) |
163 | if (rxdata == SPI_RXSYNCBYTE2) |
| 163 | { // 2nd Syncbyte ok |
164 | { // 2nd Syncbyte ok |
| 164 | rxchksum += rxdata; |
165 | rxchksum += rxdata; |
| 165 | SPI_State = SPI_DATA; |
166 | SPI_State = SPI_DATA; |
| 166 | } // 2nd Syncbyte does not match |
167 | } // 2nd Syncbyte does not match |
| 167 | else |
168 | else |
| 168 | { |
169 | { |
| 169 | SPI_State = SPI_SYNC1; //jump back to sync1 |
170 | SPI_State = SPI_SYNC1; //jump back to sync1 |
| 170 | } |
171 | } |
| 171 | break; |
172 | break; |
| 172 | case SPI_DATA: |
173 | case SPI_DATA: |
| 173 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
174 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
| 174 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
175 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
| 175 | { |
176 | { |
| 176 | if (rxdata == rxchksum) // verify checksum byte |
177 | if (rxdata == rxchksum) // verify checksum byte |
| 177 | { |
178 | { |
| 178 | // copy SPI_RxBuffer -> FromFlightCtrl |
179 | // copy SPI_RxBuffer -> FromFlightCtrl |
| 179 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
180 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
| 180 | { |
181 | { |
| 181 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
182 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
| 182 | SPI_RxBuffer_Request = 1; |
183 | SPI_RxBuffer_Request = 1; |
| 183 | } |
184 | } |
| 184 | // reset timeout counter on good packet |
185 | // reset timeout counter on good packet |
| 185 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
186 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
| 186 | DebugOut.Analog[13]++; |
187 | DebugOut.Analog[13]++; |
| 187 | } |
188 | } |
| 188 | else // bad checksum byte |
189 | else // bad checksum byte |
| 189 | { |
190 | { |
| 190 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
191 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
| 191 | } |
192 | } |
| 192 | SPI_State = SPI_SYNC1; // reset state |
193 | SPI_State = SPI_SYNC1; // reset state |
| 193 | } |
194 | } |
| 194 | else // end of packet not reached |
195 | else // end of packet not reached |
| 195 | { |
196 | { |
| 196 | rxchksum += rxdata; // update checksum |
197 | rxchksum += rxdata; // update checksum |
| 197 | } |
198 | } |
| 198 | break; |
199 | break; |
| 199 | default: |
200 | default: |
| 200 | SPI_State = SPI_SYNC1; |
201 | SPI_State = SPI_SYNC1; |
| 201 | break; |
202 | break; |
| 202 | } |
203 | } |
| 203 | } |
204 | } |
| 204 | 205 | ||
| 205 | IDISABLE; |
206 | IDISABLE; |
| 206 | } |
207 | } |
| 207 | 208 | ||
| 208 | //-------------------------------------------------------------- |
209 | //-------------------------------------------------------------- |
| 209 | void SPI0_Init(void) |
210 | void SPI0_Init(void) |
| 210 | { |
211 | { |
| 211 | GPIO_InitTypeDef GPIO_InitStructure; |
212 | GPIO_InitTypeDef GPIO_InitStructure; |
| 212 | SSP_InitTypeDef SSP_InitStructure; |
213 | SSP_InitTypeDef SSP_InitStructure; |
| 213 | 214 | ||
| 214 | UART1_PutString("\r\n SPI init..."); |
215 | UART1_PutString("\r\n SPI init..."); |
| 215 | 216 | ||
| 216 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
217 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| 217 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
218 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
| 218 | 219 | ||
| 219 | GPIO_DeInit(GPIO2); |
220 | GPIO_DeInit(GPIO2); |
| 220 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
221 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
| 221 | GPIO_StructInit(&GPIO_InitStructure); |
222 | GPIO_StructInit(&GPIO_InitStructure); |
| 222 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
223 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| 223 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
224 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
| 224 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
225 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| 225 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
226 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 226 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
227 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
| 227 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
228 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
| 228 | 229 | ||
| 229 | // SSP0_MISO pin GPIO2.6 |
230 | // SSP0_MISO pin GPIO2.6 |
| 230 | GPIO_StructInit(&GPIO_InitStructure); |
231 | GPIO_StructInit(&GPIO_InitStructure); |
| 231 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
232 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| 232 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
233 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
| 233 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
234 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| 234 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
235 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 235 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
236 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
| 236 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
237 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
| 237 | 238 | ||
| 238 | SSP_DeInit(SSP0); |
239 | SSP_DeInit(SSP0); |
| 239 | SSP_StructInit(&SSP_InitStructure); |
240 | SSP_StructInit(&SSP_InitStructure); |
| 240 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
241 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
| 241 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
242 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
| 242 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
243 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
| 243 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
244 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
| 244 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
245 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
| 245 | SSP_InitStructure.SSP_ClockRate = 0; |
246 | SSP_InitStructure.SSP_ClockRate = 0; |
| 246 | 247 | ||
| 247 | SSP_Init(SSP0, &SSP_InitStructure); |
248 | SSP_Init(SSP0, &SSP_InitStructure); |
| 248 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
249 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
| 249 | 250 | ||
| 250 | SSP_Cmd(SSP0, ENABLE); |
251 | SSP_Cmd(SSP0, ENABLE); |
| 251 | // initialize the syncbytes in the tx buffer |
252 | // initialize the syncbytes in the tx buffer |
| 252 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
253 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
| 253 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
254 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
| 254 | // set the pointer to the checksum byte in the tx buffer |
255 | // set the pointer to the checksum byte in the tx buffer |
| 255 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
256 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
| 256 | 257 | ||
| 257 | ToFlightCtrl.GPSStick.Nick = 0; |
258 | ToFlightCtrl.GPSStick.Nick = 0; |
| 258 | ToFlightCtrl.GPSStick.Roll = 0; |
259 | ToFlightCtrl.GPSStick.Roll = 0; |
| 259 | ToFlightCtrl.GPSStick.Yaw = 0; |
260 | ToFlightCtrl.GPSStick.Yaw = 0; |
| 260 | 261 | ||
| 261 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
262 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| 262 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
263 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 263 | 264 | ||
| 264 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
265 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
| 265 | 266 | ||
| 266 | UART1_PutString("ok"); |
267 | UART1_PutString("ok"); |
| 267 | } |
268 | } |
| 268 | 269 | ||
| 269 | 270 | ||
| 270 | //------------------------------------------------------ |
271 | //------------------------------------------------------ |
| 271 | void SPI0_UpdateBuffer(void) |
272 | void SPI0_UpdateBuffer(void) |
| 272 | { |
273 | { |
| 273 | static u32 timeout = 0; |
274 | static u32 timeout = 0; |
| 274 | static u8 counter = 50; |
275 | static u8 counter = 50; |
| 275 | static u8 CompassCalState = 0; |
276 | static u8 CompassCalState = 0; |
| 276 | static u8 FCCalibActive = 0; |
277 | static u8 FCCalibActive = 0; |
| 277 | 278 | ||
| 278 | if (SPI_RxBuffer_Request) |
279 | if (SPI_RxBuffer_Request) |
| 279 | { |
280 | { |
| 280 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
281 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
| 281 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
282 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
| 282 | ToFlightCtrl.CompassHeading = Compass_Heading; |
283 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| 283 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
284 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 284 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
285 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 285 | ToFlightCtrl.MagVecX = MagVector.X; |
286 | ToFlightCtrl.MagVecX = MagVector.X; |
| 286 | ToFlightCtrl.MagVecY = MagVector.Y; |
287 | ToFlightCtrl.MagVecY = MagVector.Y; |
| 287 | ToFlightCtrl.MagVecZ = MagVector.Z; |
288 | ToFlightCtrl.MagVecZ = MagVector.Z; |
| 288 | ToFlightCtrl.NCStatus = 0; |
289 | ToFlightCtrl.NCStatus = 0; |
| 289 | // cycle spi commands |
290 | // cycle spi commands |
| 290 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
291 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 291 | // restart command cycle at the end |
292 | // restart command cycle at the end |
| 292 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
293 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 293 | 294 | ||
| 294 | switch (ToFlightCtrl.Command) |
295 | switch (ToFlightCtrl.Command) |
| 295 | { |
296 | { |
| 296 | case SPI_NCCMD_KALMAN: |
297 | case SPI_NCCMD_KALMAN: |
| 297 | CalcHeadFree(); |
298 | CalcHeadFree(); |
| 298 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
299 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| 299 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
300 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| 300 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
301 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
| 301 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
302 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
| 302 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
303 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 303 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
304 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 304 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
305 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 305 | //ToFlightCtrl.Param.Byte[7] = |
306 | //ToFlightCtrl.Param.Byte[7] = |
| 306 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
307 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
| 307 | { |
308 | { |
| 308 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
309 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
| 309 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
310 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
| 310 | } |
311 | } |
| 311 | else |
312 | else |
| 312 | { |
313 | { |
| 313 | ToFlightCtrl.Param.sInt[4] = -1; |
314 | ToFlightCtrl.Param.sInt[4] = -1; |
| 314 | } |
315 | } |
| 315 | 316 | ||
| 316 | if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &(ToFlightCtrl.Param.sInt[5]))) // Elevation set via 'j' command |
317 | if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &(ToFlightCtrl.Param.sInt[5]))) // Elevation set via 'j' command |
| 317 | { |
318 | { |
| 318 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
319 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
| 319 | else ToFlightCtrl.Param.sInt[5] = 0; |
320 | else ToFlightCtrl.Param.sInt[5] = 0; |
| 320 | } |
321 | } |
| 321 | break; |
322 | break; |
| 322 | 323 | ||
| 323 | case SPI_NCCMD_VERSION: |
324 | case SPI_NCCMD_VERSION: |
| 324 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
325 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
| 325 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
326 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
| 326 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
327 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| 327 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
328 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| 328 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
329 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
| 329 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
330 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
| 330 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
331 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
| 331 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
332 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
| 332 | break; |
333 | break; |
| 333 | 334 | ||
| 334 | case SPI_NCCMD_GPSINFO: |
335 | case SPI_NCCMD_GPSINFO: |
| 335 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
336 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
| 336 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
337 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
| 337 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
338 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
| 338 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
339 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| 339 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
340 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
| 340 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
341 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
| 341 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
342 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
| 342 | { |
343 | { |
| 343 | s16 tmp; |
344 | s16 tmp; |
| 344 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
345 | // if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
| - | 346 | if(NCRARAM_STATE_VALID == NCParams_GetValue(3, &tmp)) |
|
| 345 | { |
347 | { |
| 346 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
348 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
| 347 | } |
349 | } |
| 348 | else |
350 | else |
| 349 | { |
351 | { |
| 350 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
352 | ToFlightCtrl.Param.Byte[9] = (u8) ToFC_AltitudeRate; |
| 351 | } |
353 | } |
| 352 | if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &(ToFlightCtrl.Param.sInt[5]))) |
354 | if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &(ToFlightCtrl.Param.sInt[5]))) |
| 353 | { |
355 | { |
| 354 | ToFlightCtrl.Param.sInt[5] = (s16) ToFC_AltitudeSetpoint; |
356 | ToFlightCtrl.Param.sInt[5] = (s16) ToFC_AltitudeSetpoint; |
| 355 | } |
357 | } |
| - | 358 | DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9]; |
|
| - | 359 | DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5]; |
|
| 356 | } |
360 | } |
| 357 | break; |
361 | break; |
| 358 | default: |
362 | default: |
| 359 | break; |
363 | break; |
| 360 | // 0 = 0,1 |
364 | // 0 = 0,1 |
| 361 | // 1 = 2,3 |
365 | // 1 = 2,3 |
| 362 | // 2 = 4,5 |
366 | // 2 = 4,5 |
| 363 | // 3 = 6,7 |
367 | // 3 = 6,7 |
| 364 | // 4 = 8,9 |
368 | // 4 = 8,9 |
| 365 | // 5 = 10,11 |
369 | // 5 = 10,11 |
| 366 | } |
370 | } |
| 367 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
371 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
| 368 | 372 | ||
| 369 | 373 | ||
| 370 | switch(FromFlightCtrl.Command) |
374 | switch(FromFlightCtrl.Command) |
| 371 | { |
375 | { |
| 372 | case SPI_FCCMD_USER: |
376 | case SPI_FCCMD_USER: |
| 373 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
377 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| 374 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
378 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
| 375 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
379 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
| 376 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
380 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
| 377 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
381 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
| 378 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
382 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
| 379 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
383 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
| 380 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
384 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
| 381 | if(ClearFCStatusFlags) |
385 | if(ClearFCStatusFlags) |
| 382 | { |
386 | { |
| 383 | FC.StatusFlags = 0; |
387 | FC.StatusFlags = 0; |
| 384 | ClearFCStatusFlags = 0; |
388 | ClearFCStatusFlags = 0; |
| 385 | } |
389 | } |
| 386 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
390 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
| 387 | if(FC.StatusFlags&FC_STATUS_CALIBRATE && !FCCalibActive) |
391 | if(FC.StatusFlags&FC_STATUS_CALIBRATE && !FCCalibActive) |
| 388 | { |
392 | { |
| 389 | Compass_Init(); |
393 | Compass_Init(); |
| 390 | FCCalibActive = 1; |
394 | FCCalibActive = 1; |
| 391 | } |
395 | } |
| 392 | else |
396 | else |
| 393 | { |
397 | { |
| 394 | FCCalibActive = 0; |
398 | FCCalibActive = 0; |
| 395 | } |
399 | } |
| 396 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
400 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 397 | DebugOut.Analog[5] = FC.StatusFlags; |
401 | DebugOut.Analog[5] = FC.StatusFlags; |
| 398 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
402 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
| 399 | NaviData.FCStatusFlags = FC.StatusFlags; |
403 | NaviData.FCStatusFlags = FC.StatusFlags; |
| 400 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
404 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
| 401 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
405 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
| 402 | break; |
406 | break; |
| 403 | 407 | ||
| 404 | case SPI_FCCMD_ACCU: |
408 | case SPI_FCCMD_ACCU: |
| 405 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
409 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
| 406 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
410 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
| 407 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
411 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
| 408 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
412 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
| - | 413 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
|
| - | 414 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
|
| - | 415 | { |
|
| - | 416 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
|
| - | 417 | } |
|
| - | 418 | ||
| 409 | NaviData.UBat = FC.BAT_Voltage; |
419 | NaviData.UBat = FC.BAT_Voltage; |
| 410 | NaviData.Current = FC.BAT_Current; |
420 | NaviData.Current = FC.BAT_Current; |
| 411 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
421 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
| 412 | break; |
422 | break; |
| 413 | 423 | ||
| 414 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
424 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
| 415 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
425 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
| 416 | 426 | ||
| 417 | case SPI_FCCMD_PARAMETER1: |
427 | case SPI_FCCMD_PARAMETER1: |
| 418 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
428 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
| 419 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
429 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
| 420 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
430 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
| 421 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
431 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
| 422 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
432 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
| 423 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
433 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
| 424 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
434 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
| 425 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
435 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
| 426 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
436 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| 427 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
437 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 428 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
438 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
| 429 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
439 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
| 430 | break; |
440 | break; |
| 431 | 441 | ||
| 432 | case SPI_FCCMD_STICK: |
442 | case SPI_FCCMD_STICK: |
| 433 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
443 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| 434 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
444 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
| 435 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
445 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
| 436 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
446 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
| 437 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
447 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
| 438 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
448 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
| 439 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
449 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
| 440 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
450 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
| 441 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
451 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
| 442 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
452 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
| 443 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
453 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
| 444 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
454 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
| 445 | break; |
455 | break; |
| 446 | 456 | ||
| 447 | case SPI_FCCMD_MISC: |
457 | case SPI_FCCMD_MISC: |
| 448 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
458 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| 449 | { // put only new CompassCalState into queue to send via I2C |
459 | { // put only new CompassCalState into queue to send via I2C |
| 450 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
460 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
| 451 | Compass_SetCalState(CompassCalState); |
461 | Compass_SetCalState(CompassCalState); |
| 452 | } |
462 | } |
| 453 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
463 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
| 454 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
464 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
| 455 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
465 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
| 456 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
466 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
| 457 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
467 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| 458 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
468 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
| 459 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
469 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
| 460 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
470 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| 461 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
471 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
| 462 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
472 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
| 463 | // NaviData.RC_RSSI = FC.RC_RSSI; |
473 | // NaviData.RC_RSSI = FC.RC_RSSI; |
| 464 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
474 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
| 465 | break; |
475 | break; |
| 466 | 476 | ||
| 467 | case SPI_FCCMD_SERVOS: |
477 | case SPI_FCCMD_SERVOS: |
| 468 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
478 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
| 469 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
479 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
| 470 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
480 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
| 471 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
481 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
| 472 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
482 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
| 473 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
483 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
| 474 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
484 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
| 475 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
485 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
| 476 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
486 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
| 477 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
487 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
| 478 | break; |
488 | break; |
| 479 | 489 | ||
| 480 | case SPI_FCCMD_VERSION: |
490 | case SPI_FCCMD_VERSION: |
| 481 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
491 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 482 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
492 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
| 483 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
493 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
| 484 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
494 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
| 485 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
495 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
| 486 | FC.Error[0] = FromFlightCtrl.Param.Byte[5]; |
496 | FC.Error[0] = FromFlightCtrl.Param.Byte[5]; |
| 487 | FC.Error[1] = FromFlightCtrl.Param.Byte[6]; |
497 | FC.Error[1] = FromFlightCtrl.Param.Byte[6]; |
| 488 | FC.Error[2] = FromFlightCtrl.Param.Byte[7]; |
498 | FC.Error[2] = FromFlightCtrl.Param.Byte[7]; |
| 489 | FC.Error[3] = FromFlightCtrl.Param.Byte[8]; |
499 | FC.Error[3] = FromFlightCtrl.Param.Byte[8]; |
| 490 | FC.Error[4] = FromFlightCtrl.Param.Byte[9]; |
500 | FC.Error[4] = FromFlightCtrl.Param.Byte[9]; |
| 491 | DebugOut.Status[0] |= 0x01; // status of FC Present |
501 | DebugOut.Status[0] |= 0x01; // status of FC Present |
| 492 | DebugOut.Status[0] |= 0x02; // status of BL Present |
502 | DebugOut.Status[0] |= 0x02; // status of BL Present |
| 493 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
503 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
| 494 | else DebugOut.Status[1] &= ~0x01; |
504 | else DebugOut.Status[1] &= ~0x01; |
| 495 | break; |
505 | break; |
| 496 | default: |
506 | default: |
| 497 | break; |
507 | break; |
| 498 | } |
508 | } |
| 499 | 509 | ||
| 500 | // every time we got new data from the FC via SPI call the navigation routine |
510 | // every time we got new data from the FC via SPI call the navigation routine |
| 501 | // and update GPSStick that are returned to FC |
511 | // and update GPSStick that are returned to FC |
| 502 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
512 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
| 503 | ClearFCStatusFlags = 1; |
513 | ClearFCStatusFlags = 1; |
| 504 | 514 | ||
| 505 | if(counter) |
515 | if(counter) |
| 506 | { |
516 | { |
| 507 | counter--; // count down to enable servo |
517 | counter--; // count down to enable servo |
| 508 | if(!counter) TIMER2_Init(); // enable Servo Output |
518 | if(!counter) TIMER2_Init(); // enable Servo Output |
| 509 | } |
519 | } |
| 510 | 520 | ||
| 511 | SPI_RxBuffer_Request = 0; |
521 | SPI_RxBuffer_Request = 0; |
| 512 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
522 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
| 513 | 523 | ||
| 514 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
524 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| 515 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
525 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
| 516 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
526 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
| 517 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
527 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
| 518 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
528 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
| 519 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
529 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
| 520 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
530 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
| 521 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
531 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
| 522 | } // EOF if(SPI_RxBuffer_Request) |
532 | } // EOF if(SPI_RxBuffer_Request) |
| 523 | else // no new SPI data |
533 | else // no new SPI data |
| 524 | { |
534 | { |
| 525 | if(CheckDelay(timeout) && (counter == 0)) |
535 | if(CheckDelay(timeout) && (counter == 0)) |
| 526 | { |
536 | { |
| 527 | TIMER2_Deinit(); // disable Servo Output |
537 | TIMER2_Deinit(); // disable Servo Output |
| 528 | counter = 50; // reset counter for enabling Servo Output |
538 | counter = 50; // reset counter for enabling Servo Output |
| 529 | } |
539 | } |
| 530 | } |
540 | } |
| 531 | } |
541 | } |
| 532 | 542 | ||
| 533 | //------------------------------------------------------ |
543 | //------------------------------------------------------ |
| 534 | void SPI0_GetFlightCtrlVersion(void) |
544 | void SPI0_GetFlightCtrlVersion(void) |
| 535 | { |
545 | { |
| 536 | u32 timeout; |
546 | u32 timeout; |
| 537 | u8 repeat; |
547 | u8 repeat; |
| 538 | u8 msg[64]; |
548 | u8 msg[64]; |
| 539 | 549 | ||
| 540 | UART1_PutString("\r\n Looking for FlightControl"); |
550 | UART1_PutString("\r\n Looking for FlightControl"); |
| 541 | FC_Version.Major = 0xFF; |
551 | FC_Version.Major = 0xFF; |
| 542 | FC_Version.Minor = 0xFF; |
552 | FC_Version.Minor = 0xFF; |
| 543 | FC_Version.Patch = 0xFF; |
553 | FC_Version.Patch = 0xFF; |
| 544 | FC_Version.Compatible = 0xFF; |
554 | FC_Version.Compatible = 0xFF; |
| 545 | 555 | ||
| 546 | // polling FC version info |
556 | // polling FC version info |
| 547 | repeat = 0; |
557 | repeat = 0; |
| 548 | do |
558 | do |
| 549 | { |
559 | { |
| 550 | timeout = SetDelay(250); |
560 | timeout = SetDelay(250); |
| 551 | do |
561 | do |
| 552 | { |
562 | { |
| 553 | SPI0_UpdateBuffer(); |
563 | SPI0_UpdateBuffer(); |
| 554 | if (FC_Version.Major != 0xFF) break; |
564 | if (FC_Version.Major != 0xFF) break; |
| 555 | }while (!CheckDelay(timeout)); |
565 | }while (!CheckDelay(timeout)); |
| 556 | UART1_PutString("."); |
566 | UART1_PutString("."); |
| 557 | repeat++; |
567 | repeat++; |
| 558 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
568 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| 559 | // if we got it |
569 | // if we got it |
| 560 | if (FC_Version.Major != 0xFF) |
570 | if (FC_Version.Major != 0xFF) |
| 561 | { |
571 | { |
| 562 | sprintf(msg, " FC V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
572 | sprintf(msg, " FC V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
| 563 | UART1_PutString(msg); |
573 | UART1_PutString(msg); |
| 564 | } |
574 | } |
| 565 | else UART1_PutString("\n\r not found!"); |
575 | else UART1_PutString("\n\r not found!"); |
| 566 | } |
576 | } |
| 567 | 577 | ||
| 568 | 578 | ||
| 569 | 579 | ||