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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <string.h>
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#include <string.h>
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#include "91x_lib.h"
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#include "91x_lib.h"
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#include "led.h"
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#include "led.h"
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#include "GPS.h"
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#include "gps.h"
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#include "uart1.h"
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#include "uart1.h"
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#include "spi_slave.h"
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#include "spi_slave.h"
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#include "i2c.h"
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#include "i2c.h"
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#include "timer1.h"
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#include "timer1.h"
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#define SPI_RXSYNCBYTE2 0x83
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#define SPI_RXSYNCBYTE2 0x83
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#define SPI_TXSYNCBYTE1 0x81
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#define SPI_TXSYNCBYTE1 0x81
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#define SPI_TXSYNCBYTE2 0x55
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#define SPI_TXSYNCBYTE2 0x55
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//communication packets
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//communication packets
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volatile FromFlightCtrl_t   FromFlightCtrl;
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FromFlightCtrl_t   FromFlightCtrl;
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volatile ToFlightCtrl_t     ToFlightCtrl;
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ToFlightCtrl_t     ToFlightCtrl;
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#define SPI0_TIMEOUT 500 // 500ms
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#define SPI0_TIMEOUT 500 // 500ms
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volatile u32 SPI0_Timeout = 0;
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volatile u32 SPI0_Timeout = 0;
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        SPI_TxBuffer[0] = SPI_TXSYNCBYTE1;
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        SPI_TxBuffer[0] = SPI_TXSYNCBYTE1;
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        SPI_TxBuffer[1] = SPI_TXSYNCBYTE2;
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        SPI_TxBuffer[1] = SPI_TXSYNCBYTE2;
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        // set the pointer to the checksum byte in the tx buffer
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        // set the pointer to the checksum byte in the tx buffer
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        Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum);
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        Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum);
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        ToFlightCtrl.GPSStick.Nick = 0;
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        ToFlightCtrl.GPSStick.Roll = 0;
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        ToFlightCtrl.GPSStick.Yaw = 0;
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        VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0);
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        VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0);
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        VIC_ITCmd(SSP0_ITLine, ENABLE);
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        VIC_ITCmd(SSP0_ITLine, ENABLE);
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        {
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        {
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                // avoid sending data via SPI during the update of the  ToFlightCtrl structure
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                // avoid sending data via SPI during the update of the  ToFlightCtrl structure
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                VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
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                VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
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                ToFlightCtrl.CompassHeading = I2C_Heading.Heading;
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                ToFlightCtrl.CompassHeading = I2C_Heading.Heading;
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                DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
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                DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
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                ToFlightCtrl.GPS_Nick   = GPS_Stick.Nick;
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                ToFlightCtrl.GPS_Roll   = GPS_Stick.Roll;
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                ToFlightCtrl.GPS_Yaw    = GPS_Stick.Yaw;
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                // cycle spi commands
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                // cycle spi commands
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                ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
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                ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
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                // restart command cycle at the end
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                // restart command cycle at the end
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                if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
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                if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
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                        default:
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                        default:
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                                break;
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                                break;
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                }
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                }
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                // every time we got new data from the FC via SPI call the navigation routine
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                // every time we got new data from the FC via SPI call the navigation routine
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                // and update GPSStick that are returned to FC
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                GPS_Navigation();
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                GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick));
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                ClearFCFlags = 1;
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                ClearFCFlags = 1;
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                if(counter)
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                if(counter)