Rev 690 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 690 | Rev 693 | ||
|---|---|---|---|
| Line 80... | Line 80... | ||
| 80 | 80 | ||
| 81 | 81 | ||
| 82 | //communication packets |
82 | //communication packets |
| - | 83 | FromFlightCtrl_t FromFlightCtrl; |
|
| 83 | FromFlightCtrl_t FromFlightCtrl; |
84 | ToFlightCtrl_t ToFlightCtrl; |
| 84 | ToFlightCtrl_t ToFlightCtrl; |
85 | paramset_t EE_Parameter; |
| 85 | #define SPI0_TIMEOUT 2500 //ms |
86 | #define SPI0_TIMEOUT 2500 //ms |
| 86 | volatile u32 SPI0_Timeout = 0; |
87 | volatile u32 SPI0_Timeout = 0; |
| 87 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
88 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
| Line 105... | Line 106... | ||
| 105 | s32 Kalman_MaxDrift = 5 * 16; |
106 | s32 Kalman_MaxDrift = 5 * 16; |
| 106 | s32 Kalman_MaxFusion = 64; |
107 | s32 Kalman_MaxFusion = 64; |
| 107 | s32 Kalman_Kompass = 32; |
108 | s32 Kalman_Kompass = 32; |
| 108 | s32 ToFcGpsZ = 0; |
109 | s32 ToFcGpsZ = 0; |
| 109 | u8 CompassCalState = 0; |
110 | u8 CompassCalState = 0; |
| - | 111 | u8 RequestConfigFromFC = 1; |
|
| Line 110... | Line 112... | ||
| 110 | 112 | ||
| 111 | u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO, SPI_SERIAL_CH, // Achtung: SPI_SERIAL_CH darf nicht am Ende des Arrays stehen (wird gescipped) |
113 | u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO, SPI_SERIAL_CH, // Achtung: SPI_SERIAL_CH darf nicht am Ende des Arrays stehen (wird gescipped) |
| 112 | SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, |
114 | SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, |
| 113 | SPI_NCCMD_KALMAN, SPI_MISC, |
115 | SPI_NCCMD_KALMAN, SPI_MISC, |
| Line 163... | Line 165... | ||
| 163 | // clear pending bits |
165 | // clear pending bits |
| 164 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
166 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 165 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
167 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| Line 166... | Line 168... | ||
| 166 | 168 | ||
| 167 | // while RxFIFO not empty |
- | |
| 168 | DebugOut.Analog[18] = 0; |
169 | // while RxFIFO not empty |
| 169 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
170 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
| 170 | { |
171 | { |
| 171 | rxdata = SSP0->DR; // catch the received byte |
172 | rxdata = SSP0->DR; // catch the received byte |
| 172 | switch (SPI_State) |
173 | switch (SPI_State) |
| Line 182... | Line 183... | ||
| 182 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
183 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 183 | SPI_TxBuffer[0] = SPI_NCSYNCBYTE1; |
184 | SPI_TxBuffer[0] = SPI_NCSYNCBYTE1; |
| 184 | SPI_TxBuffer[1] = SPI_NCSYNCBYTE2; |
185 | SPI_TxBuffer[1] = SPI_NCSYNCBYTE2; |
| 185 | SPI_Tx_Datasize = sizeof(ToFlightCtrl) + 2; // +2 weil die Syncbytes nicht in dem Block stehen |
186 | SPI_Tx_Datasize = sizeof(ToFlightCtrl) + 2; // +2 weil die Syncbytes nicht in dem Block stehen |
| 186 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
187 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
| 187 | DebugOut.Analog[16]++; |
- | |
| 188 | } |
188 | } |
| 189 | else |
189 | else |
| 190 | if (rxdata == SPI_FCSYNCBYTE_HB1) |
190 | if (rxdata == SPI_FCSYNCBYTE_HB1) |
| 191 | { // 1st syncbyte ok |
191 | { // 1st syncbyte ok |
| 192 | SPI_State = SPI_SYNC_HB; // step to syncHB |
192 | SPI_State = SPI_SYNC_HB; // step to syncHB |
| 193 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // sync1 |
193 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // sync1 |
| 194 | HugeBlockToFC.Sync1 = SPI_NCSYNCBYTE1; |
194 | HugeBlockToFC.Sync1 = SPI_NCSYNCBYTE1; |
| 195 | HugeBlockToFC.Sync2 = SPI_NCSYNCBYTE_HB2; |
195 | HugeBlockToFC.Sync2 = SPI_NCSYNCBYTE_HB2; |
| 196 | HugeBlockToFC.Chksum = 0; |
196 | HugeBlockToFC.Chksum = 0; |
| 197 | memcpy((u8 *) &(SPI_TxBuffer[0]), (u8 *) &HugeBlockToFC, sizeof(HugeBlockToFC)); |
197 | memcpy((u8 *) &(SPI_TxBuffer[0]), (u8 *) &HugeBlockToFC, sizeof(HugeBlockToFC)); |
| 198 | HugeBlockToFC.Data[239]++; |
- | |
| 199 | SPI_Tx_Datasize = sizeof(HugeBlockToFC); |
198 | SPI_Tx_Datasize = sizeof(HugeBlockToFC); |
| 200 | Ptr_TxChksum = (u8 *) &(((str_HugeBlockToFC *) &(SPI_TxBuffer[0]))->Chksum); |
199 | Ptr_TxChksum = (u8 *) &(((str_HugeBlockToFC *) &(SPI_TxBuffer[0]))->Chksum); |
| 201 | *Ptr_TxChksum = 0; |
200 | *Ptr_TxChksum = 0; |
| 202 | DebugOut.Analog[17]++; |
- | |
| 203 | } |
201 | } |
| 204 | break; |
202 | break; |
| 205 | case SPI_SYNC2: |
203 | case SPI_SYNC2: |
| 206 | if (rxdata == SPI_FCSYNCBYTE2) |
204 | if (rxdata == SPI_FCSYNCBYTE2) |
| 207 | { // 2nd Syncbyte ok |
205 | { // 2nd Syncbyte ok |
| Line 257... | Line 255... | ||
| 257 | if(SPI_RxBufferIndex >= sizeof(HugeBlockFromFC)) // end of packet is reached |
255 | if(SPI_RxBufferIndex >= sizeof(HugeBlockFromFC)) // end of packet is reached |
| 258 | { |
256 | { |
| 259 | if (rxdata == rxchksum) // verify checksum byte |
257 | if (rxdata == rxchksum) // verify checksum byte |
| 260 | { |
258 | { |
| 261 | // copy SPI_RxBuffer -> FromFlightCtrl |
259 | // copy SPI_RxBuffer -> FromFlightCtrl |
| 262 | //DebugOut.Analog[17]++; |
- | |
| 263 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
- | |
| 264 | { |
- | |
| 265 | memcpy((u8 *) &HugeBlockFromFC, (u8 *) SPI_RxBuffer, sizeof(HugeBlockFromFC)); |
260 | memcpy((u8 *) &HugeBlockFromFC, (u8 *) SPI_RxBuffer, sizeof(HugeBlockFromFC)); |
| 266 | // SPI_RxBuffer_Request = 1; |
- | |
| 267 | } |
- | |
| 268 | //DebugOut.Analog[18] = HugeBlockFromFC.Data[239]; |
- | |
| 269 | // reset timeout counter on good packet |
261 | // reset timeout counter on good packet |
| 270 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
262 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
| 271 | // DebugOut.Analog[13]++; |
- | |
| 272 | } |
263 | } |
| 273 | else // bad checksum byte |
264 | else // bad checksum byte |
| 274 | { |
265 | { |
| 275 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
266 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
| 276 | } |
267 | } |
| Line 289... | Line 280... | ||
| 289 | // + Ouput Data |
280 | // + Ouput Data |
| 290 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
281 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 291 | // Fill TxFIFO while its not full or end of packet is reached |
282 | // Fill TxFIFO while its not full or end of packet is reached |
| 292 | while((SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) && (SPI_TxBufferIndex < SPI_Tx_Datasize)) |
283 | while((SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) && (SPI_TxBufferIndex < SPI_Tx_Datasize)) |
| 293 | { |
284 | { |
| 294 | DebugOut.Analog[18]++; |
- | |
| 295 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
285 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| 296 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
286 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| 297 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
287 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
| 298 | SPI_TxBufferIndex++; // pointer to next byte |
288 | SPI_TxBufferIndex++; // pointer to next byte |
| 299 | } |
289 | } |
| Line 356... | Line 346... | ||
| 356 | 346 | ||
| 357 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
347 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| Line 358... | Line 348... | ||
| 358 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
348 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 359 | - | ||
| - | 349 | ||
| - | 350 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
|
| 360 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
351 | EE_Parameter.Revision = 0; |
| 361 | 352 | sprintf(EE_Parameter.Name,"???\0"); |
|
| Line 362... | Line 353... | ||
| 362 | UART1_PutString("ok"); |
353 | UART1_PutString("ok"); |
| Line 489... | Line 480... | ||
| 489 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
480 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
| 490 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
481 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
| 491 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
482 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
| 492 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
483 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
| 493 | ToFlightCtrl.Param.Byte[11] = SpeakHoTT; |
484 | ToFlightCtrl.Param.Byte[11] = SpeakHoTT; |
| - | 485 | ToFlightCtrl.Param.Byte[12] = RequestConfigFromFC & 0x01; |
|
| 494 | SpeakHoTT = 0; |
486 | SpeakHoTT = 0; |
| 495 | // if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
487 | // if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
| 496 | // else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
488 | // else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
| 497 | break; |
489 | break; |
| 498 | case SPI_MISC: |
490 | case SPI_MISC: |