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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 | 108 | ||
109 | SPI_Version_t FC_Version; |
109 | SPI_Version_t FC_Version; |
110 | 110 | ||
111 | //-------------------------------------------------------------- |
111 | //-------------------------------------------------------------- |
112 | void SSP0_IRQHandler(void) |
112 | void SSP0_IRQHandler(void) |
113 | { |
113 | { |
114 | static u8 rxchksum = 0; |
114 | static u8 rxchksum = 0; |
115 | u8 rxdata; |
115 | u8 rxdata; |
116 | 116 | ||
117 | #define SPI_SYNC1 0 |
117 | #define SPI_SYNC1 0 |
118 | #define SPI_SYNC2 1 |
118 | #define SPI_SYNC2 1 |
119 | #define SPI_DATA 2 |
119 | #define SPI_DATA 2 |
120 | static u8 SPI_State = SPI_SYNC1; |
120 | static u8 SPI_State = SPI_SYNC1; |
121 | 121 | ||
122 | IENABLE; |
122 | IENABLE; |
123 | 123 | ||
124 | // clear pending bits |
124 | // clear pending bits |
125 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
125 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
126 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
126 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
127 | 127 | ||
128 | // while RxFIFO not empty |
128 | // while RxFIFO not empty |
129 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
129 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
130 | { |
130 | { |
131 | rxdata = SSP0->DR; // catch the received byte |
131 | rxdata = SSP0->DR; // catch the received byte |
132 | // Fill TxFIFO while its not full or end of packet is reached |
132 | // Fill TxFIFO while its not full or end of packet is reached |
133 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
133 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
134 | { |
134 | { |
135 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
135 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
136 | { |
136 | { |
137 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
137 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
138 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
138 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
139 | SPI_TxBufferIndex++; // pointer to next byte |
139 | SPI_TxBufferIndex++; // pointer to next byte |
140 | } |
140 | } |
141 | else // end of packet is reached reset and copy data to tx buffer |
141 | else // end of packet is reached reset and copy data to tx buffer |
142 | { |
142 | { |
143 | SPI_TxBufferIndex = 0; // reset buffer index |
143 | SPI_TxBufferIndex = 0; // reset buffer index |
144 | ToFlightCtrl.Chksum = 0; // initialize checksum |
144 | ToFlightCtrl.Chksum = 0; // initialize checksum |
145 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
145 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
146 | BeepTime = 0; // reset local beeptime |
146 | BeepTime = 0; // reset local beeptime |
147 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
147 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
148 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
148 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
149 | } |
149 | } |
150 | } |
150 | } |
151 | switch (SPI_State) |
151 | switch (SPI_State) |
152 | { |
152 | { |
153 | case SPI_SYNC1: |
153 | case SPI_SYNC1: |
154 | SPI_RxBufferIndex = 0; // reset buffer index |
154 | SPI_RxBufferIndex = 0; // reset buffer index |
155 | rxchksum = rxdata; // init checksum |
155 | rxchksum = rxdata; // init checksum |
156 | if (rxdata == SPI_RXSYNCBYTE1) |
156 | if (rxdata == SPI_RXSYNCBYTE1) |
157 | { // 1st syncbyte ok |
157 | { // 1st syncbyte ok |
158 | SPI_State = SPI_SYNC2; // step to sync2 |
158 | SPI_State = SPI_SYNC2; // step to sync2 |
159 | } |
159 | } |
160 | break; |
160 | break; |
161 | case SPI_SYNC2: |
161 | case SPI_SYNC2: |
162 | if (rxdata == SPI_RXSYNCBYTE2) |
162 | if (rxdata == SPI_RXSYNCBYTE2) |
163 | { // 2nd Syncbyte ok |
163 | { // 2nd Syncbyte ok |
164 | rxchksum += rxdata; |
164 | rxchksum += rxdata; |
165 | SPI_State = SPI_DATA; |
165 | SPI_State = SPI_DATA; |
166 | } // 2nd Syncbyte does not match |
166 | } // 2nd Syncbyte does not match |
167 | else |
167 | else |
168 | { |
168 | { |
169 | SPI_State = SPI_SYNC1; //jump back to sync1 |
169 | SPI_State = SPI_SYNC1; //jump back to sync1 |
170 | } |
170 | } |
171 | break; |
171 | break; |
172 | case SPI_DATA: |
172 | case SPI_DATA: |
173 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
173 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
174 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
174 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
175 | { |
175 | { |
176 | if (rxdata == rxchksum) // verify checksum byte |
176 | if (rxdata == rxchksum) // verify checksum byte |
177 | { |
177 | { |
178 | // copy SPI_RxBuffer -> FromFlightCtrl |
178 | // copy SPI_RxBuffer -> FromFlightCtrl |
179 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
179 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
180 | { |
180 | { |
181 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
181 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
182 | SPI_RxBuffer_Request = 1; |
182 | SPI_RxBuffer_Request = 1; |
183 | } |
183 | } |
184 | // reset timeout counter on good packet |
184 | // reset timeout counter on good packet |
185 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
185 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
186 | DebugOut.Analog[13]++; |
186 | DebugOut.Analog[13]++; |
187 | } |
187 | } |
188 | else // bad checksum byte |
188 | else // bad checksum byte |
189 | { |
189 | { |
190 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
190 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
191 | } |
191 | } |
192 | SPI_State = SPI_SYNC1; // reset state |
192 | SPI_State = SPI_SYNC1; // reset state |
193 | } |
193 | } |
194 | else // end of packet not reached |
194 | else // end of packet not reached |
195 | { |
195 | { |
196 | rxchksum += rxdata; // update checksum |
196 | rxchksum += rxdata; // update checksum |
197 | } |
197 | } |
198 | break; |
198 | break; |
199 | default: |
199 | default: |
200 | SPI_State = SPI_SYNC1; |
200 | SPI_State = SPI_SYNC1; |
201 | break; |
201 | break; |
202 | } |
202 | } |
203 | } |
203 | } |
204 | 204 | ||
205 | IDISABLE; |
205 | IDISABLE; |
206 | } |
206 | } |
207 | 207 | ||
208 | //-------------------------------------------------------------- |
208 | //-------------------------------------------------------------- |
209 | void SPI0_Init(void) |
209 | void SPI0_Init(void) |
210 | { |
210 | { |
211 | GPIO_InitTypeDef GPIO_InitStructure; |
211 | GPIO_InitTypeDef GPIO_InitStructure; |
212 | SSP_InitTypeDef SSP_InitStructure; |
212 | SSP_InitTypeDef SSP_InitStructure; |
213 | 213 | ||
214 | UART1_PutString("\r\n SPI init..."); |
214 | UART1_PutString("\r\n SPI init..."); |
215 | 215 | ||
216 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
216 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
217 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
217 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
218 | 218 | ||
219 | GPIO_DeInit(GPIO2); |
219 | GPIO_DeInit(GPIO2); |
220 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
220 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
221 | GPIO_StructInit(&GPIO_InitStructure); |
221 | GPIO_StructInit(&GPIO_InitStructure); |
222 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
222 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
223 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
223 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
224 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
224 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
225 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
225 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
226 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
226 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
227 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
227 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
228 | 228 | ||
229 | // SSP0_MISO pin GPIO2.6 |
229 | // SSP0_MISO pin GPIO2.6 |
230 | GPIO_StructInit(&GPIO_InitStructure); |
230 | GPIO_StructInit(&GPIO_InitStructure); |
231 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
231 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
232 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
232 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
233 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
233 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
234 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
234 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
235 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
235 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
236 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
236 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
237 | 237 | ||
238 | SSP_DeInit(SSP0); |
238 | SSP_DeInit(SSP0); |
239 | SSP_StructInit(&SSP_InitStructure); |
239 | SSP_StructInit(&SSP_InitStructure); |
240 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
240 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
241 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
241 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
242 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
242 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
243 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
243 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
244 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
244 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
245 | SSP_InitStructure.SSP_ClockRate = 0; |
245 | SSP_InitStructure.SSP_ClockRate = 0; |
246 | 246 | ||
247 | SSP_Init(SSP0, &SSP_InitStructure); |
247 | SSP_Init(SSP0, &SSP_InitStructure); |
248 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
248 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
249 | 249 | ||
250 | SSP_Cmd(SSP0, ENABLE); |
250 | SSP_Cmd(SSP0, ENABLE); |
251 | // initialize the syncbytes in the tx buffer |
251 | // initialize the syncbytes in the tx buffer |
252 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
252 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
253 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
253 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
254 | // set the pointer to the checksum byte in the tx buffer |
254 | // set the pointer to the checksum byte in the tx buffer |
255 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
255 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
256 | 256 | ||
257 | ToFlightCtrl.GPSStick.Nick = 0; |
257 | ToFlightCtrl.GPSStick.Nick = 0; |
258 | ToFlightCtrl.GPSStick.Roll = 0; |
258 | ToFlightCtrl.GPSStick.Roll = 0; |
259 | ToFlightCtrl.GPSStick.Yaw = 0; |
259 | ToFlightCtrl.GPSStick.Yaw = 0; |
260 | 260 | ||
261 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
261 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
262 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
262 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
263 | 263 | ||
264 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
264 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
265 | 265 | ||
266 | UART1_PutString("ok"); |
266 | UART1_PutString("ok"); |
267 | } |
267 | } |
268 | 268 | ||
269 | 269 | ||
270 | //------------------------------------------------------ |
270 | //------------------------------------------------------ |
271 | void SPI0_UpdateBuffer(void) |
271 | void SPI0_UpdateBuffer(void) |
272 | { |
272 | { |
273 | static u32 timeout = 0; |
273 | static u32 timeout = 0; |
274 | static u8 counter = 50; |
274 | static u8 counter = 50; |
275 | static u8 CompassCalState = 0; |
275 | static u8 CompassCalState = 0; |
276 | static u8 FCCalibActive = 0; |
276 | static u8 FCCalibActive = 0; |
277 | 277 | ||
278 | if (SPI_RxBuffer_Request) |
278 | if (SPI_RxBuffer_Request) |
279 | { |
279 | { |
280 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
280 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
281 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
281 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
282 | ToFlightCtrl.CompassHeading = Compass_Heading; |
282 | ToFlightCtrl.CompassHeading = Compass_Heading; |
283 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
283 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
284 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
284 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
285 | ToFlightCtrl.MagVecX = MagVector.X; |
285 | ToFlightCtrl.MagVecX = MagVector.X; |
286 | ToFlightCtrl.MagVecY = MagVector.Y; |
286 | ToFlightCtrl.MagVecY = MagVector.Y; |
287 | ToFlightCtrl.MagVecZ = MagVector.Z; |
287 | ToFlightCtrl.MagVecZ = MagVector.Z; |
288 | ToFlightCtrl.NCStatus = 0; |
288 | ToFlightCtrl.NCStatus = 0; |
289 | // cycle spi commands |
289 | // cycle spi commands |
290 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
290 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
291 | // restart command cycle at the end |
291 | // restart command cycle at the end |
292 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
292 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
293 | 293 | ||
294 | switch (ToFlightCtrl.Command) |
294 | switch (ToFlightCtrl.Command) |
295 | { |
295 | { |
296 | case SPI_NCCMD_KALMAN: |
296 | case SPI_NCCMD_KALMAN: |
297 | CalcHeadFree(); |
297 | CalcHeadFree(); |
298 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
298 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
299 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
299 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
300 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
300 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
301 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
301 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
302 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
302 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
303 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
303 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
304 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
304 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
305 | //ToFlightCtrl.Param.Byte[7] = |
305 | //ToFlightCtrl.Param.Byte[7] = |
306 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
306 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
307 | { |
307 | { |
308 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
308 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
309 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
309 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
310 | } |
310 | } |
311 | else |
311 | else |
312 | { |
312 | { |
313 | ToFlightCtrl.Param.sInt[4] = -1; |
313 | ToFlightCtrl.Param.sInt[4] = -1; |
314 | } |
314 | } |
315 | 315 | ||
316 | if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &(ToFlightCtrl.Param.sInt[5]))) // Elevation set via 'j' command |
316 | if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &(ToFlightCtrl.Param.sInt[5]))) // Elevation set via 'j' command |
317 | { |
317 | { |
318 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
318 | 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; |
319 | else ToFlightCtrl.Param.sInt[5] = 0; |
320 | } |
320 | } |
321 | break; |
321 | break; |
322 | 322 | ||
323 | case SPI_NCCMD_VERSION: |
323 | case SPI_NCCMD_VERSION: |
324 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
324 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
325 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
325 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
326 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
326 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
327 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
327 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
328 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
328 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
329 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
329 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
330 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
330 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
331 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
331 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
332 | break; |
332 | break; |
333 | 333 | ||
334 | case SPI_NCCMD_GPSINFO: |
334 | case SPI_NCCMD_GPSINFO: |
335 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
335 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
336 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
336 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
337 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
337 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
338 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
338 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
339 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
339 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
340 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
340 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
341 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
341 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
342 | { |
342 | { |
343 | s16 tmp; |
343 | s16 tmp; |
344 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
344 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
345 | { |
345 | { |
346 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
346 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
347 | } |
347 | } |
348 | else |
348 | else |
349 | { |
349 | { |
350 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
350 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
351 | } |
351 | } |
352 | if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &(ToFlightCtrl.Param.sInt[5]))) |
352 | if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &(ToFlightCtrl.Param.sInt[5]))) |
353 | { |
353 | { |
354 | ToFlightCtrl.Param.sInt[5] = (s16) ToFC_AltitudeSetpoint; |
354 | ToFlightCtrl.Param.sInt[5] = (s16) ToFC_AltitudeSetpoint; |
355 | } |
355 | } |
356 | } |
356 | } |
357 | break; |
357 | break; |
358 | default: |
358 | default: |
359 | break; |
359 | break; |
360 | // 0 = 0,1 |
360 | // 0 = 0,1 |
361 | // 1 = 2,3 |
361 | // 1 = 2,3 |
362 | // 2 = 4,5 |
362 | // 2 = 4,5 |
363 | // 3 = 6,7 |
363 | // 3 = 6,7 |
364 | // 4 = 8,9 |
364 | // 4 = 8,9 |
365 | // 5 = 10,11 |
365 | // 5 = 10,11 |
366 | } |
366 | } |
367 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
367 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
368 | 368 | ||
369 | 369 | ||
370 | switch(FromFlightCtrl.Command) |
370 | switch(FromFlightCtrl.Command) |
371 | { |
371 | { |
372 | case SPI_FCCMD_USER: |
372 | case SPI_FCCMD_USER: |
373 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
373 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
374 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
374 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
375 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
375 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
376 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
376 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
377 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
377 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
378 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
378 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
379 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
379 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
380 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
380 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
381 | if(ClearFCStatusFlags) |
381 | if(ClearFCStatusFlags) |
382 | { |
382 | { |
383 | FC.StatusFlags = 0; |
383 | FC.StatusFlags = 0; |
384 | ClearFCStatusFlags = 0; |
384 | ClearFCStatusFlags = 0; |
385 | } |
385 | } |
386 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
386 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
387 | if(FC.StatusFlags&FC_STATUS_CALIBRATE && !FCCalibActive) |
387 | if(FC.StatusFlags&FC_STATUS_CALIBRATE && !FCCalibActive) |
388 | { |
388 | { |
389 | Compass_Init(); |
389 | Compass_Init(); |
390 | FCCalibActive = 1; |
390 | FCCalibActive = 1; |
391 | } |
391 | } |
392 | else |
392 | else |
393 | { |
393 | { |
394 | FCCalibActive = 0; |
394 | FCCalibActive = 0; |
395 | } |
395 | } |
396 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
396 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
397 | DebugOut.Analog[5] = FC.StatusFlags; |
397 | DebugOut.Analog[5] = FC.StatusFlags; |
398 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
398 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
399 | NaviData.FCStatusFlags = FC.StatusFlags; |
399 | NaviData.FCStatusFlags = FC.StatusFlags; |
400 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
400 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
401 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
401 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
402 | break; |
402 | break; |
403 | 403 | ||
404 | case SPI_FCCMD_ACCU: |
404 | case SPI_FCCMD_ACCU: |
405 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
405 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
406 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
406 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
407 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
407 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
408 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
408 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
409 | NaviData.UBat = FC.BAT_Voltage; |
409 | NaviData.UBat = FC.BAT_Voltage; |
410 | NaviData.Current = FC.BAT_Current; |
410 | NaviData.Current = FC.BAT_Current; |
411 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
411 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
412 | break; |
412 | break; |
413 | 413 | ||
414 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
414 | #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); } |
415 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
416 | 416 | ||
417 | case SPI_FCCMD_PARAMETER1: |
417 | case SPI_FCCMD_PARAMETER1: |
418 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
418 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
419 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
419 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
420 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
420 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
421 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
421 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
422 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
422 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
423 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
423 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
424 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
424 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
425 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
425 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
426 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
426 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
427 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
427 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
428 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
428 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
429 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
429 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
430 | break; |
430 | break; |
431 | 431 | ||
432 | case SPI_FCCMD_STICK: |
432 | case SPI_FCCMD_STICK: |
433 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
433 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
434 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
434 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
435 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
435 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
436 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
436 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
437 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
437 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
438 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
438 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
439 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
439 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
440 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
440 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
441 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
441 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
442 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
442 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
443 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
443 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
444 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
444 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
445 | break; |
445 | break; |
446 | 446 | ||
447 | case SPI_FCCMD_MISC: |
447 | case SPI_FCCMD_MISC: |
448 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
448 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
449 | { // put only new CompassCalState into queue to send via I2C |
449 | { // put only new CompassCalState into queue to send via I2C |
450 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
450 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
451 | Compass_SetCalState(CompassCalState); |
451 | Compass_SetCalState(CompassCalState); |
452 | } |
452 | } |
453 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
453 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
454 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
454 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
455 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
455 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
456 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
456 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
457 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
457 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
458 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
458 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
459 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
459 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
460 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
460 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
461 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
461 | 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; |
462 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
463 | // NaviData.RC_RSSI = FC.RC_RSSI; |
463 | // NaviData.RC_RSSI = FC.RC_RSSI; |
464 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
464 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
465 | break; |
465 | break; |
466 | 466 | ||
467 | case SPI_FCCMD_SERVOS: |
467 | case SPI_FCCMD_SERVOS: |
468 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
468 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
469 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
469 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
470 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
470 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
471 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
471 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
472 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
472 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
473 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
473 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
474 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
474 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
475 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
475 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
476 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
476 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
477 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
477 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
478 | break; |
478 | break; |
479 | 479 | ||
480 | case SPI_FCCMD_VERSION: |
480 | case SPI_FCCMD_VERSION: |
481 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
481 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
482 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
482 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
483 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
483 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
484 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
484 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
485 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
485 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
486 | FC.Error[0] = FromFlightCtrl.Param.Byte[5]; |
486 | FC.Error[0] = FromFlightCtrl.Param.Byte[5]; |
487 | FC.Error[1] = FromFlightCtrl.Param.Byte[6]; |
487 | FC.Error[1] = FromFlightCtrl.Param.Byte[6]; |
488 | FC.Error[2] = FromFlightCtrl.Param.Byte[7]; |
488 | FC.Error[2] = FromFlightCtrl.Param.Byte[7]; |
489 | FC.Error[3] = FromFlightCtrl.Param.Byte[8]; |
489 | FC.Error[3] = FromFlightCtrl.Param.Byte[8]; |
490 | FC.Error[4] = FromFlightCtrl.Param.Byte[9]; |
490 | FC.Error[4] = FromFlightCtrl.Param.Byte[9]; |
491 | DebugOut.Status[0] |= 0x01; // status of FC Present |
491 | DebugOut.Status[0] |= 0x01; // status of FC Present |
492 | DebugOut.Status[0] |= 0x02; // status of BL Present |
492 | 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; |
493 | 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; |
494 | else DebugOut.Status[1] &= ~0x01; |
495 | break; |
495 | break; |
496 | default: |
496 | default: |
497 | break; |
497 | break; |
498 | } |
498 | } |
499 | 499 | ||
500 | // every time we got new data from the FC via SPI call the navigation routine |
500 | // every time we got new data from the FC via SPI call the navigation routine |
501 | // and update GPSStick that are returned to FC |
501 | // and update GPSStick that are returned to FC |
502 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
502 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
503 | ClearFCStatusFlags = 1; |
503 | ClearFCStatusFlags = 1; |
504 | 504 | ||
505 | if(counter) |
505 | if(counter) |
506 | { |
506 | { |
507 | counter--; // count down to enable servo |
507 | counter--; // count down to enable servo |
508 | if(!counter) TIMER2_Init(); // enable Servo Output |
508 | if(!counter) TIMER2_Init(); // enable Servo Output |
509 | } |
509 | } |
510 | 510 | ||
511 | SPI_RxBuffer_Request = 0; |
511 | SPI_RxBuffer_Request = 0; |
512 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
512 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
513 | 513 | ||
514 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
514 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
515 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
515 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
516 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
516 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
517 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
517 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
518 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
518 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
519 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
519 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
520 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
520 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
521 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
521 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
522 | } // EOF if(SPI_RxBuffer_Request) |
522 | } // EOF if(SPI_RxBuffer_Request) |
523 | else // no new SPI data |
523 | else // no new SPI data |
524 | { |
524 | { |
525 | if(CheckDelay(timeout) && (counter == 0)) |
525 | if(CheckDelay(timeout) && (counter == 0)) |
526 | { |
526 | { |
527 | TIMER2_Deinit(); // disable Servo Output |
527 | TIMER2_Deinit(); // disable Servo Output |
528 | counter = 50; // reset counter for enabling Servo Output |
528 | counter = 50; // reset counter for enabling Servo Output |
529 | } |
529 | } |
530 | } |
530 | } |
531 | } |
531 | } |
532 | 532 | ||
533 | //------------------------------------------------------ |
533 | //------------------------------------------------------ |
534 | void SPI0_GetFlightCtrlVersion(void) |
534 | void SPI0_GetFlightCtrlVersion(void) |
535 | { |
535 | { |
536 | u32 timeout; |
536 | u32 timeout; |
537 | u8 repeat; |
537 | u8 repeat; |
538 | u8 msg[64]; |
538 | u8 msg[64]; |
539 | 539 | ||
540 | UART1_PutString("\r\n Looking for FlightContol"); |
540 | UART1_PutString("\r\n Looking for FlightControl"); |
541 | FC_Version.Major = 0xFF; |
541 | FC_Version.Major = 0xFF; |
542 | FC_Version.Minor = 0xFF; |
542 | FC_Version.Minor = 0xFF; |
543 | FC_Version.Patch = 0xFF; |
543 | FC_Version.Patch = 0xFF; |
544 | FC_Version.Compatible = 0xFF; |
544 | FC_Version.Compatible = 0xFF; |
545 | 545 | ||
546 | // polling FC version info |
546 | // polling FC version info |
547 | repeat = 0; |
547 | repeat = 0; |
548 | do |
548 | do |
549 | { |
549 | { |
550 | timeout = SetDelay(250); |
550 | timeout = SetDelay(250); |
551 | do |
551 | do |
552 | { |
552 | { |
553 | SPI0_UpdateBuffer(); |
553 | SPI0_UpdateBuffer(); |
554 | if (FC_Version.Major != 0xFF) break; |
554 | if (FC_Version.Major != 0xFF) break; |
555 | }while (!CheckDelay(timeout)); |
555 | }while (!CheckDelay(timeout)); |
556 | UART1_PutString("."); |
556 | UART1_PutString("."); |
557 | repeat++; |
557 | repeat++; |
558 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
558 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
559 | // if we got it |
559 | // if we got it |
560 | if (FC_Version.Major != 0xFF) |
560 | if (FC_Version.Major != 0xFF) |
561 | { |
561 | { |
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); |
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); |
563 | UART1_PutString(msg); |
563 | UART1_PutString(msg); |
564 | } |
564 | } |
565 | else UART1_PutString("\n\r not found!"); |
565 | else UART1_PutString("\n\r not found!"); |
566 | } |
566 | } |
567 | 567 | ||
568 | 568 | ||
569 | 569 |