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5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
Line 30... | Line 30... | ||
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
Line 54... | Line 54... | ||
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
Line 56... | Line 56... | ||
56 | 56 | ||
57 | #include <string.h> |
57 | #include <string.h> |
- | 58 | #include <math.h> |
|
58 | #include <math.h> |
59 | #include <stdlib.h> |
59 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
60 | #include "led.h" |
61 | #include "led.h" |
61 | #include "gps.h" |
62 | #include "gps.h" |
62 | #include "uart1.h" |
63 | #include "uart1.h" |
63 | #include "spi_slave.h" |
64 | #include "spi_slave.h" |
64 | #include "compass.h" |
65 | #include "compass.h" |
65 | #include "timer1.h" |
66 | #include "timer1.h" |
66 | #include "timer2.h" |
67 | #include "timer2.h" |
67 | #include "config.h" |
68 | #include "config.h" |
68 | #include "main.h" |
- | |
69 | #include "compass.h" |
69 | #include "main.h" |
70 | #include "params.h" |
- | |
71 | #include "stdlib.h" |
70 | #include "params.h" |
72 | #include "settings.h" |
- | |
Line 73... | Line 71... | ||
73 | #include "ncmag.h" |
71 | #include "settings.h" |
74 | 72 | ||
75 | #define SPI_RXSYNCBYTE1 0xAA |
73 | #define SPI_RXSYNCBYTE1 0xAA |
76 | #define SPI_RXSYNCBYTE2 0x83 |
74 | #define SPI_RXSYNCBYTE2 0x83 |
Line 81... | Line 79... | ||
81 | FromFlightCtrl_t FromFlightCtrl; |
79 | FromFlightCtrl_t FromFlightCtrl; |
82 | ToFlightCtrl_t ToFlightCtrl; |
80 | ToFlightCtrl_t ToFlightCtrl; |
83 | #define SPI0_TIMEOUT 2500 //ms |
81 | #define SPI0_TIMEOUT 2500 //ms |
84 | volatile u32 SPI0_Timeout = 0; |
82 | volatile u32 SPI0_Timeout = 0; |
85 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
86 | u8 SpeakHoTT = 0; |
84 | u8 SpeakHoTT = 0; |
Line 87... | Line 85... | ||
87 | 85 | ||
88 | // tx packet buffer |
86 | // tx packet buffer |
89 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
87 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
90 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10]; |
88 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10]; |
Line 124... | Line 122... | ||
124 | u32 FC_I2C_ErrorConter; |
122 | u32 FC_I2C_ErrorConter; |
125 | SPI_Version_t FC_Version; |
123 | SPI_Version_t FC_Version; |
126 | s16 POI_KameraNick = 0; |
124 | s16 POI_KameraNick = 0; |
127 | u8 NC_Wait_for_LED = 0; |
125 | u8 NC_Wait_for_LED = 0; |
128 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
126 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
129 | u8 FromFC_LowVoltageHomeActive = 0; |
- | |
Line 130... | Line 127... | ||
130 | 127 | ||
131 | //-------------------------------------------------------------- |
128 | //-------------------------------------------------------------- |
132 | void SSP0_IRQHandler(void) |
129 | void SSP0_IRQHandler(void) |
133 | { |
130 | { |
Line 291... | Line 288... | ||
291 | void SPI0_UpdateBuffer(void) |
288 | void SPI0_UpdateBuffer(void) |
292 | { |
289 | { |
293 | static u32 timeout = 0; |
290 | static u32 timeout = 0; |
294 | static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0; |
291 | static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0; |
295 | static s16 last_wp_event = 0; |
292 | static s16 last_wp_event = 0; |
296 | s16 tmp; |
293 | s16 tmp; |
297 | s32 i1,i2; |
294 | s32 i1,i2; |
298 | /* |
295 | /* |
299 | union |
296 | union |
300 | { |
297 | { |
301 | unsigned char Byte[4]; |
298 | unsigned char Byte[4]; |
302 | unsigned int Int[2]; |
299 | unsigned int Int[2]; |
303 | unsigned long Long; |
300 | unsigned long Long; |
304 | } Temp; |
301 | } Temp; |
305 | */ |
302 | */ |
306 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
303 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
307 | if(SPI_RxBuffer_Request) |
304 | if(SPI_RxBuffer_Request) |
308 | { |
305 | { |
309 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
306 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
310 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
307 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
Line 315... | Line 312... | ||
315 | ToFlightCtrl.MagVecX = MagVector.X; |
312 | ToFlightCtrl.MagVecX = MagVector.X; |
316 | ToFlightCtrl.MagVecY = MagVector.Y; |
313 | ToFlightCtrl.MagVecY = MagVector.Y; |
317 | ToFlightCtrl.MagVecZ = MagVector.Z; |
314 | ToFlightCtrl.MagVecZ = MagVector.Z; |
318 | // ToFlightCtrl.NCStatus = 0; |
315 | // ToFlightCtrl.NCStatus = 0; |
319 | // cycle spi commands |
316 | // cycle spi commands |
320 | if(ErrorCode != last_error_code && enable_injecting) |
317 | if(ErrorCode != last_error_code && enable_injecting) |
321 | { |
318 | { |
322 | ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
319 | ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
323 | last_error_code = ErrorCode; |
320 | last_error_code = ErrorCode; |
324 | enable_injecting = 0; |
321 | enable_injecting = 0; |
325 | } |
322 | } |
326 | else |
323 | else |
327 | if(FC_WP_EventChannel != last_wp_event && enable_injecting) |
324 | if(FC_WP_EventChannel != last_wp_event && enable_injecting) |
328 | { |
325 | { |
329 | ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
326 | ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
330 | last_wp_event = FC_WP_EventChannel; |
327 | last_wp_event = FC_WP_EventChannel; |
331 | enable_injecting = 0; |
328 | enable_injecting = 0; |
332 | } |
329 | } |
333 | else |
330 | else |
334 | { |
331 | { |
335 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
332 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
336 | // restart command cycle at the end |
333 | // restart command cycle at the end |
337 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
334 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
338 | if(ToFlightCtrl.Command == SPI_NCCMD_KALMAN) enable_injecting = 1; |
335 | if(ToFlightCtrl.Command == SPI_NCCMD_KALMAN) enable_injecting = 1; |
Line 365... | Line 362... | ||
365 | POI_KameraNick = tmp; |
362 | POI_KameraNick = tmp; |
366 | } |
363 | } |
367 | else |
364 | else |
368 | { |
365 | { |
369 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
366 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
370 | POI_KameraNick = CAM_Orientation.Elevation; |
367 | POI_KameraNick = CAM_Orientation.Elevation; |
371 | //else ToFlightCtrl.Param.sInt[5] = 0; |
368 | //else ToFlightCtrl.Param.sInt[5] = 0; |
372 | } |
369 | } |
373 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
370 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
374 | break; |
371 | break; |
Line 453... | Line 450... | ||
453 | case SPI_NCCMD_HOTT_INFO: |
450 | case SPI_NCCMD_HOTT_INFO: |
454 | switch(hott_index++) |
451 | switch(hott_index++) |
455 | { |
452 | { |
456 | case 0: |
453 | case 0: |
457 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
454 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
458 | //53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
455 | //53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
459 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
456 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
460 | ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
457 | ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
461 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
458 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
462 | //----------------------------- |
459 | //----------------------------- |
463 | ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
460 | ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
464 | i1 = GPSData.Speed_Ground; // in cm/sec |
461 | i1 = GPSData.Speed_Ground; // in cm/sec |
465 | i1 *= 36; |
462 | i1 *= 36; |
466 | i1 /= 1000; |
463 | i1 /= 1000; |
467 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
464 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
468 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
465 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
Line 470... | Line 467... | ||
470 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
467 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
471 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
468 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
472 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
469 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
473 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
470 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
474 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
471 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
475 | i1 *= 100; |
472 | i1 *= 100; |
476 | // Minuten |
473 | // Minuten |
477 | i2 *= 6; |
474 | i2 *= 6; |
478 | i2 /= 10; |
475 | i2 /= 10; |
479 | i1 += i2 / 100000; |
476 | i1 += i2 / 100000; |
480 | i2 = i2 % 100000; |
477 | i2 = i2 % 100000; |
Line 492... | Line 489... | ||
492 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
489 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
493 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
490 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
494 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
491 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
495 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
492 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
496 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
493 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
497 | i1 *= 100; |
494 | i1 *= 100; |
498 | // Minuten |
495 | // Minuten |
499 | i2 *= 6; |
496 | i2 *= 6; |
500 | i2 /= 10; |
497 | i2 /= 10; |
501 | i1 += i2 / 100000; |
498 | i1 += i2 / 100000; |
502 | i2 = i2 % 100000; |
499 | i2 = i2 % 100000; |
Line 504... | Line 501... | ||
504 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
501 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
505 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
502 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
506 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
503 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
507 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
504 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
508 | //----------------------------- |
505 | //----------------------------- |
509 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
506 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
510 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
507 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
511 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
508 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
512 | break; |
509 | break; |
513 | case 2: |
510 | case 2: |
514 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
511 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
515 | ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
512 | ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
516 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
513 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
517 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
514 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
518 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
515 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
519 | break; |
516 | break; |
520 | case 3: |
517 | case 3: |
521 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1; |
518 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1; |
522 | ToFlightCtrl.Param.Byte[0] = 0; // index |
519 | ToFlightCtrl.Param.Byte[0] = 0; // index |
523 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
520 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
524 | //JetiExData[14].Value = 53 * 0x10000 + 23467; |
521 | //JetiExData[14].Value = 53 * 0x10000 + 23467; |
525 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40; |
522 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40; |
526 | else ToFlightCtrl.Param.Byte[5] = 0x00; |
523 | else ToFlightCtrl.Param.Byte[5] = 0x00; |
527 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L; |
524 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L; |
528 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
525 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
529 | i2 *= 6; |
526 | i2 *= 6; |
530 | i2 /= 1000; |
527 | i2 /= 1000; |
531 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
528 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
532 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
529 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
533 | break; |
530 | break; |
534 | case 4: |
531 | case 4: |
535 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2; |
532 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2; |
536 | ToFlightCtrl.Param.Byte[0] = 0; // index |
533 | ToFlightCtrl.Param.Byte[0] = 0; // index |
537 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
534 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
538 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60; |
535 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60; |
539 | else ToFlightCtrl.Param.Byte[5] = 0x20; |
536 | else ToFlightCtrl.Param.Byte[5] = 0x20; |
540 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L; |
537 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L; |
541 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
538 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
542 | i2 *= 6; |
539 | i2 *= 6; |
543 | i2 /= 1000; |
540 | i2 /= 1000; |
544 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
541 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
545 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
542 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
546 | hott_index = 0; |
543 | hott_index = 0; |
547 | break; |
544 | break; |
548 | default: |
545 | default: |
549 | ToFlightCtrl.Param.Byte[0] = 255; |
546 | ToFlightCtrl.Param.Byte[0] = 255; |
550 | hott_index = 0; |
547 | hott_index = 0; |
551 | break; |
548 | break; |
552 | } |
549 | } |
553 | break; |
550 | break; |
554 | default: |
551 | default: |
555 | break; |
552 | break; |
Line 585... | Line 582... | ||
585 | FCCalibActive = 10; |
582 | FCCalibActive = 10; |
586 | FC_is_Calibrated = 0; |
583 | FC_is_Calibrated = 0; |
587 | } |
584 | } |
588 | else |
585 | else |
589 | { |
586 | { |
590 | if(FCCalibActive) |
587 | if(FCCalibActive) |
591 | { |
588 | { |
592 | if(--FCCalibActive == 0) |
589 | if(--FCCalibActive == 0) |
593 | { |
590 | { |
594 | FC_is_Calibrated = 1; |
591 | FC_is_Calibrated = 1; |
595 | ExtCompassOrientation = GetExtCompassOrientation(); |
592 | Compass_Check(); |
596 | if(ExtCompassOrientation != Calibration.Version / 16) NCMAG_IsCalibrated = 0; |
- | |
597 | } |
593 | } |
598 | } |
594 | } |
- | 595 | } |
|
- | 596 | if(FC.StatusFlags & FC_STATUS_START) |
|
- | 597 | { |
|
- | 598 | if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 - GeoMagDec) % 3600; else |
|
- | 599 | HeadFreeStartAngle = GyroCompassCorrected; |
|
599 | } |
600 | } |
600 | if(FC.StatusFlags & FC_STATUS_START) |
- | |
601 | { |
- | |
602 | if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 - GeoMagDec) % 3600; else |
- | |
603 | HeadFreeStartAngle = GyroCompassCorrected; |
- | |
604 | } |
- | |
Line 605... | Line 601... | ||
605 | 601 | ||
606 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
602 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
607 | { |
603 | { |
608 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
604 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
609 | { |
605 | { |
610 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
606 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
611 | { |
607 | { |
612 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
608 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
613 | } |
609 | } |
614 | else // Ansonsten die aktuelle Richtung übernehmen |
610 | else // Ansonsten die aktuelle Richtung übernehmen |
615 | HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
611 | HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
616 | } |
612 | } |
- | 613 | } |
|
617 | } |
614 | |
618 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
615 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
619 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[10]; |
616 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[10]; |
620 | DebugOut.Analog[7] = FC.BAT_Voltage; |
617 | DebugOut.Analog[7] = FC.BAT_Voltage; |
621 | DebugOut.Analog[5] = FC.StatusFlags; |
618 | DebugOut.Analog[5] = FC.StatusFlags; |
622 | NaviData.FCStatusFlags = FC.StatusFlags; |
619 | NaviData.FCStatusFlags = FC.StatusFlags; |
623 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
620 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
624 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
621 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
Line 625... | Line 622... | ||
625 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
622 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
626 | 623 | ||
627 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
624 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
Line 628... | Line 625... | ||
628 | else |
625 | else |
629 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
626 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
630 | 627 | ||
Line 631... | Line 628... | ||
631 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
628 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
632 | else |
629 | else |
633 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
630 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
Line 671... | Line 668... | ||
671 | break; |
668 | break; |
672 | case SPI_FCCMD_PARAMETER2: |
669 | case SPI_FCCMD_PARAMETER2: |
673 | CHK_POTI_MM(Parameter.NaviOut1Parameter,FromFlightCtrl.Param.Byte[0],0,255); |
670 | CHK_POTI_MM(Parameter.NaviOut1Parameter,FromFlightCtrl.Param.Byte[0],0,255); |
674 | if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
671 | if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
675 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[2]; |
672 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[2]; |
676 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[3]; |
673 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[3]; |
677 | FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4]; |
674 | Parameter.FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4]; |
678 | break; |
675 | break; |
679 | case SPI_FCCMD_STICK: |
676 | case SPI_FCCMD_STICK: |
680 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
677 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
681 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
678 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
682 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
679 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
Line 693... | Line 690... | ||
693 | break; |
690 | break; |
Line 694... | Line 691... | ||
694 | 691 | ||
695 | case SPI_FCCMD_MISC: |
692 | case SPI_FCCMD_MISC: |
696 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
693 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
697 | { // put only new CompassCalState into queue to send via I2C |
694 | { // put only new CompassCalState into queue to send via I2C |
698 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
695 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
699 | { |
696 | { |
700 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
697 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
701 | Compass_SetCalState(CompassCalState); |
698 | Compass_SetCalState(CompassCalState); |
702 | } |
699 | } |
Line 739... | Line 736... | ||
739 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
736 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
740 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
737 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
741 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
738 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
742 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
739 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
743 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
740 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
744 | if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188) |
741 | if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188) |
745 | { |
742 | { |
746 | FC.FromFC_DisableDeclination = 1; |
743 | FC.FromFC_DisableDeclination = 1; |
747 | FC.FromFC_CompassOffset = 10 * (signed char) ((unsigned char) FromFlightCtrl.Param.Byte[7] - 128); |
744 | FC.FromFC_CompassOffset = 10 * (s8) (FromFlightCtrl.Param.Byte[7] - 128); |
748 | GeoMagDec = 0; |
745 | GeoMagDec = 0; |
749 | } |
746 | } |
750 | else |
747 | else |
751 | { |
748 | { |
752 | FC.FromFC_DisableDeclination = 0; |
749 | FC.FromFC_DisableDeclination = 0; |
753 | FC.FromFC_CompassOffset = 10 * (signed char) FromFlightCtrl.Param.Byte[7]; |
750 | FC.FromFC_CompassOffset = 10 * FromFlightCtrl.Param.sByte[7]; |
754 | } |
751 | } |
755 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
752 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
756 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
753 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
757 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
754 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
758 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
755 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
Line 818... | Line 815... | ||
818 | SPI0_UpdateBuffer(); |
815 | SPI0_UpdateBuffer(); |
819 | if (FC_Version.Major != 0xFF) break; |
816 | if (FC_Version.Major != 0xFF) break; |
820 | }while (!CheckDelay(timeout)); |
817 | }while (!CheckDelay(timeout)); |
821 | UART1_PutString("."); |
818 | UART1_PutString("."); |
822 | repeat++; |
819 | repeat++; |
823 | // FCCalibActive = 1; |
820 | FCCalibActive = 1; |
824 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
821 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
825 | // if we got it |
822 | // if we got it |
826 | if (FC_Version.Major != 0xFF) |
823 | if (FC_Version.Major != 0xFF) |
827 | { |
824 | { |
828 | sprintf(msg, " FC V%d.%02d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
825 | sprintf(msg, " FC V%d.%d%c HW:%d.%02d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
829 | UART1_PutString(msg); |
826 | UART1_PutString(msg); |
830 | } |
827 | } |
831 | else UART1_PutString("\n\r not found!"); |
828 | else UART1_PutString("\n\r not found!"); |
832 | } |
829 | } |
Line -... | Line 830... | ||
- | 830 | ||
- | 831 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 832 | // + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
|
- | 833 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 834 | u16 BL3_Current(u8 who) // in 0,1A |
|
- | 835 | { |
|
- | 836 | if(Motor[who].Current <= 200) return((u16) Motor[who].Current); |
|
- | 837 | else |
|
- | 838 | { |
|
- | 839 | if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (u16) (Motor[who].Current - 200)); |
|
- | 840 | else return((u16) Motor[who].Current); |
|
- | 841 | } |