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| 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 | ||
| - | 58 | #include <string.h> |
|
| - | 59 | #include "91x_lib.h" |
|
| - | 60 | #include "led.h" |
|
| - | 61 | #include "GPS.h" |
|
| - | 62 | #include "uart1.h" |
|
| - | 63 | #include "spi_slave.h" |
|
| - | 64 | #include "i2c.h" |
|
| - | 65 | #include "timer.h" |
|
| 57 | #include "main.h" |
66 | #include "main.h" |
| - | 67 | #include "fifo.h" |
|
| Line 58... | Line -... | ||
| 58 | - | ||
| 59 | struct str_FromFlightCtrl FromFlightCtrl; |
- | |
| Line -... | Line 68... | ||
| - | 68 | ||
| - | 69 | ||
| - | 70 | #define SPI_RXSYNCBYTE1 0xAA |
|
| - | 71 | #define SPI_RXSYNCBYTE2 0x83 |
|
| - | 72 | #define SPI_TXSYNCBYTE1 0x81 |
|
| - | 73 | #define SPI_TXSYNCBYTE2 0x55 |
|
| - | 74 | ||
| - | 75 | typedef enum |
|
| - | 76 | { |
|
| - | 77 | SPI_SYNC1, |
|
| - | 78 | SPI_SYNC2, |
|
| - | 79 | SPI_DATA |
|
| - | 80 | } SPI_State_t; |
|
| - | 81 | ||
| 60 | struct str_ToFlightCtrl ToFlightCtrl; |
82 | //communication packets |
| - | 83 | volatile FromFlightCtrl_t FromFlightCtrl; |
|
| - | 84 | volatile ToFlightCtrl_t ToFlightCtrl; |
|
| - | 85 | ||
| - | 86 | // tx packet buffer |
|
| - | 87 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
|
| - | 88 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
|
| - | 89 | volatile u8 SPI_TxBufferIndex = 0; |
|
| - | 90 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
|
| - | 91 | ||
| - | 92 | // rx packet buffer |
|
| - | 93 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
|
| - | 94 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
|
| - | 95 | volatile u8 SPI_RxBufferIndex = 0; |
|
| Line -... | Line 96... | ||
| - | 96 | volatile u8 SPI_RxBuffer_Request = 0; |
|
| 61 | 97 | #define SPI_COMMAND_INDEX 0 |
|
| 62 | struct str_ToFlightCtrl SPI_TxBuffer; |
98 | |
| 63 | 99 | s32 FC_Kalman_K = 32; |
|
| Line -... | Line 100... | ||
| - | 100 | s32 Kalman_MaxDrift = 5 * 16; |
|
| 64 | volatile unsigned char SPI_Buffer[sizeof(FromFlightCtrl)]; |
101 | s32 Kalman_MaxFusion = 64; |
| Line 65... | Line 102... | ||
| 65 | volatile unsigned char SPI_BufferIndex = 0; |
102 | u32 CheckSPIOkay = 0; |
| Line 66... | Line 103... | ||
| 66 | volatile unsigned char SPI_TXBufferIndex = 0; |
103 | |
| 67 | - | ||
| 68 | s16 CompassValue; |
- | |
| 69 | 104 | u8 SPI_CommandSequence[] = { SPI_KALMAN, SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_KALMAN, SPI_CMD_GPS_TARGET}; |
|
| 70 | volatile struct str_MicroMag MicroMag; |
- | |
| Line 71... | Line -... | ||
| 71 | - | ||
| 72 | #define SPI_COMMAND_INDEX 0 |
105 | u8 SPI_CommandCounter = 0; |
| Line 73... | Line 106... | ||
| 73 | unsigned char *Ptr_buffer_Tx = (unsigned char *) &SPI_TxBuffer; |
106 | |
| 74 | //unsigned char *Ptr_buffer_Tx = (unsigned char *) &ToFlightCtrl; |
107 | SPI_Version_t FC_Version; |
| 75 | unsigned char *Ptr_buffer_Rx = (unsigned char *) &FromFlightCtrl; |
108 | |
| 76 | volatile unsigned char SPI_state = 0, SPI_TXUpdatebufferRequest = 0, SPI_RXUpdatebufferRequest = 0; |
109 | u8 CompassCalStateQueue[10]; |
| 77 | 110 | fifo_t CompassCalcStateFiFo; |
|
| - | 111 | ||
| Line 78... | Line 112... | ||
| 78 | unsigned char SPI_CommandSequence[] = { SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_CMD_GPS_TARGET}; |
112 | u8 CompassCalState = 0; |
| 79 | unsigned char SPI_CommandCounter = 0; |
113 | |
| 80 | - | ||
| - | 114 | //-------------------------------------------------------------- |
|
| 81 | //-------------------------------------------------------------- |
115 | void SSP0_IRQHandler(void) |
| 82 | void SSP0_IRQHandler(void) |
116 | { |
| 83 | { |
117 | static u8 rxchksum = 0; |
| - | 118 | u8 rxdata; |
|
| 84 | static u8 chksum = 0; |
119 | static SPI_State_t SPI_State = SPI_SYNC1; |
| 85 | u8 data; |
120 | |
| 86 | 121 | // clear pending bit |
|
| 87 | GPIO_ToggleBit(GPIO5, GPIO_Pin_7); |
122 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 88 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
123 | // Fill TxFIFO while its not full or end of packet is reached |
| 89 | 124 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
|
| 90 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
125 | { |
| 91 | { |
- | |
| 92 | if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
126 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| 93 | { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
127 | { |
| 94 | SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
128 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| - | 129 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
|
| 95 | SPI_TXBufferIndex++; |
130 | SPI_TxBufferIndex++; // pointer to next byte |
| 96 | } |
131 | } |
| 97 | else |
132 | else // TxBuffer end is reached then reset and copy data to tx buffer |
| 98 | { |
- | |
| - | 133 | { |
|
| 99 | SPI_TXBufferIndex = 0; |
134 | SPI_TxBufferIndex = 0; // reset buffer index |
| 100 | SPI_TXUpdatebufferRequest = 1; |
135 | ToFlightCtrl.Chksum = 0; // initialize checksum |
| 101 | ToFlightCtrl.Chksum = 0; |
- | |
| 102 | ToFlightCtrl.BeepTime = BeepTime; |
136 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
| 103 | BeepTime = 0; |
- | |
| - | 137 | BeepTime = 0; // reset local beeptime |
|
| 104 | memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
138 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
| 105 | } |
139 | memcpy( (u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 106 | } |
140 | } |
| - | 141 | } |
|
| 107 | 142 | // while RxFIFO not empty |
|
| 108 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty)==SET) |
143 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty)==SET) |
| 109 | { |
144 | { |
| 110 | 145 | rxdata = SSP0->DR; // catch the received byte |
|
| - | 146 | // Fill TxFIFO while its not full or end of packet is reached |
|
| - | 147 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
|
| - | 148 | { |
|
| - | 149 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
|
| - | 150 | { |
|
| - | 151 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
|
| - | 152 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
|
| - | 153 | SPI_TxBufferIndex++; // pointer to next byte |
|
| - | 154 | } |
|
| - | 155 | else // end of packet is reached reset and copy data to tx buffer |
|
| - | 156 | { |
|
| - | 157 | SPI_TxBufferIndex = 0; // reset buffer index |
|
| - | 158 | ToFlightCtrl.Chksum = 0; // initialize checksum |
|
| - | 159 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
|
| - | 160 | BeepTime = 0; // reset local beeptime |
|
| - | 161 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
|
| - | 162 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
|
| - | 163 | } |
|
| - | 164 | } |
|
| - | 165 | switch (SPI_State) |
|
| - | 166 | { |
|
| - | 167 | case SPI_SYNC1: |
|
| - | 168 | SPI_RxBufferIndex = 0; // reset buffer index |
|
| - | 169 | rxchksum = rxdata; // init checksum |
|
| - | 170 | if (rxdata == SPI_RXSYNCBYTE1) |
|
| - | 171 | { // 1st syncbyte ok |
|
| 111 | data = SSP0->DR; |
172 | SPI_State = SPI_SYNC2; // step to sync2 |
| 112 | 173 | } |
|
| 113 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
- | |
| 114 | { |
- | |
| 115 | if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
174 | break; |
| 116 | { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
- | |
| 117 | SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
- | |
| 118 | SPI_TXBufferIndex++; |
- | |
| 119 | } |
- | |
| 120 | else |
- | |
| 121 | { |
175 | case SPI_SYNC2: |
| 122 | SPI_TXBufferIndex = 0; |
- | |
| 123 | ToFlightCtrl.Chksum = 0; |
- | |
| 124 | SPI_TXUpdatebufferRequest = 1; |
- | |
| 125 | ToFlightCtrl.BeepTime = BeepTime; |
- | |
| 126 | BeepTime = 0; |
- | |
| 127 | memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
- | |
| 128 | } |
- | |
| 129 | - | ||
| 130 | } |
176 | if (rxdata == SPI_RXSYNCBYTE2) |
| 131 | switch (SPI_state ) |
- | |
| 132 | { |
177 | { // 2nd Syncbyte ok |
| 133 | case 0: |
- | |
| 134 | SPI_BufferIndex = 0; |
- | |
| 135 | - | ||
| 136 | chksum = data; |
- | |
| 137 | if (data == 0xAA && !SPI_RXUpdatebufferRequest) { SPI_state = 1; } // 1. Syncbyte ok |
- | |
| 138 | - | ||
| 139 | break; |
178 | rxchksum += rxdata; |
| 140 | - | ||
| 141 | case 1: |
179 | SPI_State = SPI_DATA; |
| 142 | if (data == 0x83) { chksum += data; SPI_state = 2; } // 2. Syncbyte ok |
180 | } // 2nd Syncbyte does not match |
| 143 | else SPI_state = 0; |
181 | else |
| 144 | 182 | { |
|
| - | 183 | SPI_State = SPI_SYNC1; //jump back to sync1 |
|
| - | 184 | } |
|
| 145 | break; |
185 | break; |
| - | 186 | case SPI_DATA: |
|
| 146 | 187 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
|
| 147 | case 2: |
- | |
| 148 | SPI_Buffer[SPI_BufferIndex++]= data; // get data |
188 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
| - | 189 | { |
|
| 149 | 190 | if (rxdata == rxchksum) // verify checksum byte |
|
| 150 | if (SPI_BufferIndex >= sizeof(SPI_Buffer)) // end of packet |
191 | { |
| 151 | { |
192 | // copy SPI_RxBuffer -> FromFlightCtrl |
| - | 193 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
|
| - | 194 | { |
|
| 152 | if (data == chksum) |
195 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
| 153 | { |
196 | SPI_RxBuffer_Request = 1; |
| - | 197 | } |
|
| - | 198 | CheckSPIOkay++; |
|
| - | 199 | DebugOut.Analog[13]++; |
|
| - | 200 | } |
|
| 154 | u8 i; |
201 | else // bad checksum byte |
| 155 | SPI_RXUpdatebufferRequest = 1; |
- | |
| 156 | for (i=0;i<sizeof(SPI_Buffer);i++) { Ptr_buffer_Rx[i] = SPI_Buffer[i]; } |
202 | { |
| 157 | 203 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
|
| 158 | DebugOut.Analog[13]++; |
204 | } |
| - | 205 | SPI_State = SPI_SYNC1; // reset state |
|
| 159 | } |
206 | } |
| 160 | else { DebugOut.Analog[12]++; } |
207 | else // end of packet not reached |
| 161 | - | ||
| 162 | SPI_state = 0; |
- | |
| 163 | } |
- | |
| 164 | else chksum += data; |
208 | { |
| Line 165... | Line 209... | ||
| 165 | break; |
209 | rxchksum += rxdata; // update checksum |
| 166 | 210 | } |
|
| 167 | default: SPI_state = 0; break; |
211 | break; |
| 168 | } |
212 | default: |
| 169 | } |
213 | SPI_State = SPI_SYNC1; |
| Line 170... | Line 214... | ||
| 170 | 214 | break; |
|
| Line 171... | Line 215... | ||
| 171 | 215 | } |
|
| 172 | 216 | } |
|
| Line 173... | Line 217... | ||
| 173 | } |
217 | } |
| 174 | 218 | ||
| - | 219 | //-------------------------------------------------------------- |
|
| 175 | //-------------------------------------------------------------- |
220 | void SPI0_Init(void) |
| 176 | void SPI0_Init(void) |
221 | { |
| 177 | { |
222 | GPIO_InitTypeDef GPIO_InitStructure; |
| 178 | GPIO_InitTypeDef GPIO_InitStructure; |
223 | SSP_InitTypeDef SSP_InitStructure; |
| 179 | SSP_InitTypeDef SSP_InitStructure; |
224 | |
| 180 | 225 | SerialPutString("\r\n SPI init..."); |
|
| Line 181... | Line 226... | ||
| 181 | SerialPutString("SPI init..."); |
226 | |
| - | 227 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
|
| 182 | 228 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
|
| 183 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
229 | |
| 184 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
230 | GPIO_DeInit(GPIO2); |
| 185 | 231 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
|
| 186 | GPIO_DeInit(GPIO2); |
232 | GPIO_StructInit(&GPIO_InitStructure); |
| 187 | //SSP0_CLK, SSP0_MOSI, SSP0_SS pins |
233 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| Line 188... | Line 234... | ||
| 188 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
234 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
| 189 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
235 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| 190 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
236 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
| Line 211... | Line 257... | ||
| 211 | 257 | ||
| Line 212... | Line 258... | ||
| 212 | SSP_Init(SSP0, &SSP_InitStructure); |
258 | SSP_Init(SSP0, &SSP_InitStructure); |
| Line 213... | Line 259... | ||
| 213 | 259 | ||
| Line 214... | Line 260... | ||
| 214 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
260 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
| 215 | 261 | ||
| - | 262 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue)); |
|
| - | 263 | ||
| - | 264 | SSP_Cmd(SSP0, ENABLE); |
|
| - | 265 | // initialize the syncbytes in the tx buffer |
|
| Line 216... | Line 266... | ||
| 216 | SSP_Cmd(SSP0, ENABLE); |
266 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
| 217 | 267 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
|
| Line 218... | Line 268... | ||
| 218 | ToFlightCtrl.Sync1 = 0x81; |
268 | // set the pointer to the checksum byte in the tx buffer |
| 219 | ToFlightCtrl.Sync2 = 0x55; |
- | |
| 220 | - | ||
| 221 | VIC_Config(SSP0_ITLine, VIC_IRQ, 1); |
269 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
| Line 222... | Line 270... | ||
| 222 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
270 | |
| 223 | - | ||
| 224 | SerialPutString("ok\n\r"); |
- | |
| 225 | - | ||
| 226 | - | ||
| 227 | } |
- | |
| 228 | - | ||
| 229 | //------------------------------------------------------ |
- | |
| 230 | void SPI_CheckSlaveSelect(void) |
- | |
| 231 | { |
- | |
| 232 | - | ||
| 233 | //if (SS_PIN) { SPI_BufferIndex = 0; } |
- | |
| 234 | - | ||
| 235 | DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
- | |
| 236 | DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
- | |
| 237 | DebugOut.Analog[2] = (30*FromFlightCtrl.AccNick)/108; |
- | |
| 238 | DebugOut.Analog[3] = (30*FromFlightCtrl.AccRoll)/108; |
- | |
| 239 | - | ||
| 240 | /* DebugOut.Analog[2] = FromFlightCtrl.StickNick; |
- | |
| 241 | DebugOut.Analog[3] = FromFlightCtrl.Command; |
- | |
| 242 | DebugOut.Analog[4] = FromFlightCtrl.StickRoll; |
271 | VIC_Config(SSP0_ITLine, VIC_IRQ, 1); |
| 243 | DebugOut.Analog[5] = FromFlightCtrl.StickGier; |
272 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 244 | */ |
- | |
| 245 | DebugOut.Analog[25] = FromFlightCtrl.GyroCompass; |
273 | |
| 246 | 274 | SerialPutString("ok"); |
|
| - | 275 | } |
|
| - | 276 | ||
| Line 247... | Line -... | ||
| 247 | } |
- | |
| 248 | //------------------------------------------------------ |
- | |
| 249 | void UpdateSPI_Buffer(void) |
277 | //------------------------------------------------------ |
| 250 | { |
278 | void SPI0_UpdateBuffer(void) |
| 251 | if(CompassUpdateActiv) return; // testweise deaktiviert |
279 | { |
| 252 | if(SPI_RXUpdatebufferRequest) |
280 | if (SPI_RxBuffer_Request) |
| 253 | { |
- | |
| - | 281 | { |
|
| 254 | 282 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
|
| 255 | VIC_ITCmd(SSP0_ITLine, DISABLE); |
283 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
| Line 256... | Line 284... | ||
| 256 | 284 | ||
| 257 | ToFlightCtrl.CompassValue = I2C_Heading.Heading; |
285 | ToFlightCtrl.CompassHeading = I2C_Heading.Heading; |
| 258 | ToFlightCtrl.GPS_Nick = GPS_Nick; |
286 | ToFlightCtrl.GPS_Nick = GPS_Stick.Nick; |
| 259 | ToFlightCtrl.GPS_Roll = GPS_Roll; |
287 | ToFlightCtrl.GPS_Roll = GPS_Stick.Roll; |
| 260 | DebugOut.Analog[26] = I2C_Heading.Heading; |
288 | ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw; |
| - | 289 | // cycle spi commands |
|
| 261 | 290 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
|
| Line 262... | Line 291... | ||
| 262 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
291 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 263 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
292 | |
| 264 | 293 | switch (ToFlightCtrl.Command) |
|
| 265 | switch (ToFlightCtrl.Command) |
294 | { |
| Line 266... | Line 295... | ||
| 266 | { |
295 | case SPI_KALMAN: |
| - | 296 | ToFlightCtrl.Param.Byte[0] = (char) FC_Kalman_K; |
|
| - | 297 | ToFlightCtrl.Param.Byte[1] = (char) Kalman_MaxFusion; |
|
| - | 298 | ToFlightCtrl.Param.Byte[2] = (char) Kalman_MaxDrift; |
|
| - | 299 | break; |
|
| 267 | case SPI_CMD_OSD_DATA: |
300 | |
| 268 | ToFlightCtrl.Param.Byte[0] = OsdBar; |
301 | case SPI_CMD_GPS_POS: |
| 269 | ToFlightCtrl.Param.Int[1] = OsdDistance; |
- | |
| 270 | break; |
- | |
| 271 | - | ||
| 272 | case SPI_CMD_GPS_POS: |
- | |
| 273 | ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
302 | ToFlightCtrl.Param.Long[0] = GPSData.Position.Longitude; |
| 274 | ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
- | |
| 275 | break; |
- | |
| 276 | 303 | ToFlightCtrl.Param.Long[1] = GPSData.Position.Latitude; |
|
| 277 | case SPI_CMD_GPS_TARGET: |
304 | break; |
| - | 305 | ||
| - | 306 | case SPI_CMD_GPS_TARGET: |
|
| - | 307 | if(GPS_pTargetPosition != NULL) |
|
| 278 | ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
308 | { |
| 279 | ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
309 | if(GPS_pTargetPosition->Status != INVALID) |
| 280 | break; |
310 | { |
| 281 | 311 | ToFlightCtrl.Param.Long[0] = GPS_pTargetPosition->Longitude; |
|
| 282 | default: |
312 | ToFlightCtrl.Param.Long[1] = GPS_pTargetPosition->Latitude; |
| 283 | break; |
313 | } |
| - | 314 | else |
|
| Line -... | Line 315... | ||
| - | 315 | { |
|
| - | 316 | ToFlightCtrl.Param.Long[0] = 0; |
|
| - | 317 | ToFlightCtrl.Param.Long[1] = 0; |
|
| 284 | } |
318 | } |
| Line 285... | Line -... | ||
| 285 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
- | |
| Line 286... | Line -... | ||
| 286 | - | ||
| 287 | if (I2C_Heading.Heading <= 359) |
319 | } |
| 288 | { |
320 | else |
| 289 | } |
321 | { |
| 290 | else |
- | |
| 291 | { |
322 | ToFlightCtrl.Param.Long[0] = 0; |
| 292 | if (I2C_Version.Hauptversion != 0xff) TimerCompassUpdate = SetDelay(1); |
323 | ToFlightCtrl.Param.Long[1] = 0; |
| 293 | return; |
324 | } |
| 294 | } |
325 | break; |
| 295 | 326 | ||
| 296 | SPI_TXUpdatebufferRequest = 0; |
327 | default: |
| 297 | 328 | break; |
|
| 298 | //---------------- |
329 | } |
| - | 330 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
|
| - | 331 | ||
| - | 332 | ||
| 299 | 333 | switch(FromFlightCtrl.Command) |
|
| - | 334 | { |
|
| 300 | // DebugOut.Analog[11] = FromFlightCtrl.Command; |
335 | case SPI_CMD_USER: |
| 301 | switch(FromFlightCtrl.Command) |
336 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| 302 | { |
337 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
| 303 | case SPI_CMD_USER: |
338 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
| 304 | DebugOut.Analog[7]++; |
- | |
| 305 | Parameter_UserParam1 = FromFlightCtrl.Param.Byte[0]; |
- | |
| 306 | Parameter_UserParam2 = FromFlightCtrl.Param.Byte[1]; |
339 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
| Line -... | Line 340... | ||
| - | 340 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
|
| 307 | Parameter_UserParam3 = FromFlightCtrl.Param.Byte[2]; |
341 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
| 308 | Parameter_UserParam4 = FromFlightCtrl.Param.Byte[3]; |
342 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
| 309 | Parameter_UserParam5 = FromFlightCtrl.Param.Byte[4]; |
343 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
| 310 | Parameter_UserParam6 = FromFlightCtrl.Param.Byte[5]; |
344 | if(ClearMKFlags) |
| 311 | Parameter_UserParam7 = FromFlightCtrl.Param.Byte[6]; |
345 | { |
| 312 | Parameter_UserParam8 = FromFlightCtrl.Param.Byte[7]; |
346 | FC.MKFlags = 0; |
| 313 | if(ClearFlags) {MikroKopterFlags = 0; ClearFlags = 0;}; |
347 | ClearMKFlags = 0; |
| 314 | MikroKopterFlags |= (s32) FromFlightCtrl.Param.Byte[8]; |
348 | } |
| 315 | UBat = FromFlightCtrl.Param.Byte[9]; |
349 | FC.MKFlags |= FromFlightCtrl.Param.Byte[8]; |
| - | 350 | FC.UBat = FromFlightCtrl.Param.Byte[9]; |
|
| 316 | UndervoltageLevel = FromFlightCtrl.Param.Byte[10]; |
351 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10]; |
| - | 352 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
|
| - | 353 | break; |
|
| - | 354 | ||
| - | 355 | #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = FC.Poti1; else if(a == 252) b = FC.Poti2; else if(a == 253) b = FC.Poti3; else if(a == 254) b = FC.Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
|
| - | 356 | case SPI_CMD_PARAMETER1: |
|
| 317 | ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
357 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
| - | 358 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
|
| 318 | //DebugOut.Analog[7] = MikroKopterFlags; |
359 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
| 319 | if(MikroKopterFlags & 0x004) DebugOut.Analog[8]++; |
360 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
| 320 | break; |
361 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
| 321 | 362 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
|
| 322 | case SPI_CMD_PARAMETER1: |
363 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
| 323 | Parameter_NaviGpsModeControl = FromFlightCtrl.Param.Byte[0]; |
364 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
| 324 | Parameter_NaviGpsGain = FromFlightCtrl.Param.Byte[1]; |
365 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],10,255); |
| 325 | Parameter_NaviGpsP = FromFlightCtrl.Param.Byte[2]; |
366 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 326 | Parameter_NaviGpsI = FromFlightCtrl.Param.Byte[3]; |
367 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
| 327 | Parameter_NaviGpsD = FromFlightCtrl.Param.Byte[4]; |
368 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
| 328 | Parameter_NaviGpsACC = FromFlightCtrl.Param.Byte[5]; |
369 | // DebugOut.Analog[4] = Parameter.NaviRadiusAlert; |
| Line 329... | Line 370... | ||
| 329 | Parameter_NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
370 | // DebugOut.Analog[5] = Parameter.NaviWindCorrection; |
| 330 | Parameter_NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
371 | // DebugOut.Analog[6] = Parameter.NaviSpeedCompensation; |
| - | 372 | break; |
|
| 331 | Parameter_RadiusAlert = FromFlightCtrl.Param.Byte[8]; |
373 | |
| - | 374 | case SPI_CMD_STICK: |
|
| - | 375 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
|
| - | 376 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
|
| - | 377 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
|
| - | 378 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
|
| - | 379 | FC.Poti1 = FromFlightCtrl.Param.Byte[4]; |
|
| - | 380 | FC.Poti2 = FromFlightCtrl.Param.Byte[5]; |
|
| - | 381 | FC.Poti3 = FromFlightCtrl.Param.Byte[6]; |
|
| - | 382 | FC.Poti4 = FromFlightCtrl.Param.Byte[7]; |
|
| - | 383 | FC.RC_Quality = FromFlightCtrl.Param.Byte[8]; |
|
| 332 | break; |
384 | break; |
| Line 333... | Line 385... | ||
| 333 | case SPI_CMD_STICK: |
385 | |
| 334 | FC_StickGas = (s32) FromFlightCtrl.Param.sByte[0]; |
386 | case SPI_CMD_MISC: |
| 335 | FC_StickGier = (s32) FromFlightCtrl.Param.sByte[1]; |
387 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| Line -... | Line 388... | ||
| - | 388 | { // put only new CompassCalState into queue to send via I2C |
|
| - | 389 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
|
| - | 390 | fifo_put(&CompassCalcStateFiFo, CompassCalState); |
|
| Line 336... | Line 391... | ||
| 336 | FC_StickNick = (s32) FromFlightCtrl.Param.sByte[2]; |
391 | } |
| 337 | FC_StickRoll = (s32) FromFlightCtrl.Param.sByte[3]; |
- | |
| 338 | FC_Poti1 = (s32) FromFlightCtrl.Param.Byte[4]; |
- | |
| Line -... | Line 392... | ||
| - | 392 | NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; |
|
| - | 393 | break; |
|
| - | 394 | ||
| - | 395 | case SPI_CMD_VERSION: |
|
| - | 396 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
|
| - | 397 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
|
| 339 | FC_Poti2 = (s32) FromFlightCtrl.Param.Byte[5]; |
398 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
| - | 399 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
|
| Line -... | Line 400... | ||
| - | 400 | break; |
|
| - | 401 | ||
| - | 402 | default: |
|
| - | 403 | break; |
|
| - | 404 | } |
|
| - | 405 | ||
| - | 406 | // every time we got new data from the FC via SPI call the navigation routine |
|
| - | 407 | GPS_Navigation(); |
|
| - | 408 | ClearMKFlags = 1; |
|
| - | 409 | ||
| - | 410 | SPI_RxBuffer_Request = 0; |
|
| - | 411 | ||
| - | 412 | DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
|
| - | 413 | DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
|
| - | 414 | DebugOut.Analog[2] = (30*FromFlightCtrl.AccNick)/108; |
|
| 340 | FC_Poti3 = (s32) FromFlightCtrl.Param.Byte[6]; |
415 | DebugOut.Analog[3] = (30*FromFlightCtrl.AccRoll)/108; |
| - | 416 | DebugOut.Analog[25] = FromFlightCtrl.GyroHeading; |
|
| - | 417 | ||
| - | 418 | } // EOF if(SPI_RxBuffer_Request) |
|
| - | 419 | } |
|
| - | 420 | ||
| - | 421 | //------------------------------------------------------ |
|
| - | 422 | void SPI0_GetFlightCtrlVersion(void) |
|
| - | 423 | { |
|
| - | 424 | u16 timeout; |
|
| 341 | FC_Poti4 = (s32) FromFlightCtrl.Param.Byte[7]; |
425 | u8 msg[20]; |
| - | 426 | ||
| 342 | SenderOkay = (s32) FromFlightCtrl.Param.Byte[8]; |
427 | FC_Version.Major = 0xFF; |
| Line -... | Line 428... | ||
| - | 428 | FC_Version.Minor = 0xFF; |
|