/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
//
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
struct str_FromFlightCtrl FromFlightCtrl
;
struct str_ToFlightCtrl ToFlightCtrl
;
struct str_ToFlightCtrl SPI_TxBuffer
;
volatile unsigned char SPI_Buffer
[sizeof(FromFlightCtrl
)];
volatile unsigned char SPI_BufferIndex
= 0;
volatile unsigned char SPI_TXBufferIndex
= 0;
s16 CompassValue
;
volatile struct str_MicroMag MicroMag
;
#define SPI_COMMAND_INDEX 0
unsigned char *Ptr_buffer_Tx
= (unsigned char *) &SPI_TxBuffer
;
//unsigned char *Ptr_buffer_Tx = (unsigned char *) &ToFlightCtrl;
unsigned char *Ptr_buffer_Rx
= (unsigned char *) &FromFlightCtrl
;
volatile unsigned char SPI_state
= 0, SPI_TXUpdatebufferRequest
= 0, SPI_RXUpdatebufferRequest
= 0;
unsigned char SPI_CommandSequence
[] = { SPI_CMD_OSD_DATA
, SPI_CMD_GPS_POS
, SPI_CMD_GPS_TARGET
};
unsigned char SPI_CommandCounter
= 0;
//--------------------------------------------------------------
void SSP0_IRQHandler
(void)
{
static u8 chksum
= 0;
u8 data
;
GPIO_ToggleBit
(GPIO5
, GPIO_Pin_7
);
SSP_ClearITPendingBit
(SSP0
, SSP_IT_RxTimeOut
);
while (SSP_GetFlagStatus
(SSP0
, SSP_FLAG_TxFifoNotFull
) == SET
)
{
if (SPI_TXBufferIndex
< sizeof(ToFlightCtrl
)) // still data to send ?
{ SSP0
->DR
= Ptr_buffer_Tx
[SPI_TXBufferIndex
];
SPI_TxBuffer.
Chksum += Ptr_buffer_Tx
[SPI_TXBufferIndex
];
SPI_TXBufferIndex
++;
}
else
{
SPI_TXBufferIndex
= 0;
SPI_TXUpdatebufferRequest
= 1;
ToFlightCtrl.
Chksum = 0;
ToFlightCtrl.
BeepTime = BeepTime
;
BeepTime
= 0;
memcpy((unsigned char *) &SPI_TxBuffer
, (unsigned char *) &ToFlightCtrl
, sizeof(ToFlightCtrl
));
}
}
while (SSP_GetFlagStatus
(SSP0
, SSP_FLAG_RxFifoNotEmpty
)==SET
)
{
data
= SSP0
->DR
;
while (SSP_GetFlagStatus
(SSP0
, SSP_FLAG_TxFifoNotFull
) == SET
)
{
if (SPI_TXBufferIndex
< sizeof(ToFlightCtrl
)) // still data to send ?
{ SSP0
->DR
= Ptr_buffer_Tx
[SPI_TXBufferIndex
];
SPI_TxBuffer.
Chksum += Ptr_buffer_Tx
[SPI_TXBufferIndex
];
SPI_TXBufferIndex
++;
}
else
{
SPI_TXBufferIndex
= 0;
ToFlightCtrl.
Chksum = 0;
SPI_TXUpdatebufferRequest
= 1;
ToFlightCtrl.
BeepTime = BeepTime
;
BeepTime
= 0;
memcpy((unsigned char *) &SPI_TxBuffer
, (unsigned char *) &ToFlightCtrl
, sizeof(ToFlightCtrl
));
}
}
switch (SPI_state
)
{
case 0:
SPI_BufferIndex
= 0;
chksum
= data
;
if (data
== 0xAA && !SPI_RXUpdatebufferRequest
) { SPI_state
= 1; } // 1. Syncbyte ok
break;
case 1:
if (data
== 0x83) { chksum
+= data
; SPI_state
= 2; } // 2. Syncbyte ok
else SPI_state
= 0;
break;
case 2:
SPI_Buffer
[SPI_BufferIndex
++]= data
; // get data
if (SPI_BufferIndex
>= sizeof(SPI_Buffer
)) // end of packet
{
if (data
== chksum
)
{
u8 i
;
SPI_RXUpdatebufferRequest
= 1;
for (i
=0;i
<sizeof(SPI_Buffer
);i
++) { Ptr_buffer_Rx
[i
] = SPI_Buffer
[i
]; }
DebugOut.
Analog[13]++;
}
else { DebugOut.
Analog[12]++; }
SPI_state
= 0;
}
else chksum
+= data
;
break;
default: SPI_state
= 0; break;
}
}
}
//--------------------------------------------------------------
void SPI0_Init
(void)
{
GPIO_InitTypeDef GPIO_InitStructure
;
SSP_InitTypeDef SSP_InitStructure
;
SerialPutString
("SPI init...");
SCU_APBPeriphClockConfig
(__GPIO2
,ENABLE
);
SCU_APBPeriphClockConfig
(__SSP0
,ENABLE
);
GPIO_DeInit
(GPIO2
);
//SSP0_CLK, SSP0_MOSI, SSP0_SS pins
GPIO_InitStructure.
GPIO_Direction = GPIO_PinInput
;
GPIO_InitStructure.
GPIO_Pin = GPIO_Pin_4
| GPIO_Pin_5
| GPIO_Pin_7
;
GPIO_InitStructure.
GPIO_Type = GPIO_Type_PushPull
;
GPIO_InitStructure.
GPIO_IPConnected = GPIO_IPConnected_Enable
;
GPIO_InitStructure.
GPIO_Alternate = GPIO_InputAlt1
;
GPIO_Init
(GPIO2
, &GPIO_InitStructure
);
// SSP0_MISO pin GPIO2.6
GPIO_InitStructure.
GPIO_Direction = GPIO_PinOutput
;
GPIO_InitStructure.
GPIO_Pin = GPIO_Pin_6
;
GPIO_InitStructure.
GPIO_Type = GPIO_Type_PushPull
;
GPIO_InitStructure.
GPIO_IPConnected = GPIO_IPConnected_Enable
;
GPIO_InitStructure.
GPIO_Alternate = GPIO_OutputAlt2
;
GPIO_Init
(GPIO2
, &GPIO_InitStructure
);
SSP_DeInit
(SSP0
);
SSP_StructInit
(&SSP_InitStructure
);
SSP_InitStructure.
SSP_FrameFormat = SSP_FrameFormat_Motorola
;
SSP_InitStructure.
SSP_Mode = SSP_Mode_Slave
;
SSP_InitStructure.
SSP_SlaveOutput = SSP_SlaveOutput_Enable
;
SSP_InitStructure.
SSP_CPHA = SSP_CPHA_1Edge
;
SSP_InitStructure.
SSP_CPOL = SSP_CPOL_Low
;
SSP_InitStructure.
SSP_ClockRate = 0;
SSP_Init
(SSP0
, &SSP_InitStructure
);
SSP_ITConfig
(SSP0
, SSP_IT_RxFifo
| SSP_IT_TxFifo
| SSP_IT_RxTimeOut
, ENABLE
);
SSP_Cmd
(SSP0
, ENABLE
);
ToFlightCtrl.
Sync1 = 0x81;
ToFlightCtrl.
Sync2 = 0x55;
VIC_Config
(SSP0_ITLine
, VIC_IRQ
, 1);
VIC_ITCmd
(SSP0_ITLine
, ENABLE
);
SerialPutString
("ok\n\r");
}
//------------------------------------------------------
void SPI_CheckSlaveSelect
(void)
{
//if (SS_PIN) { SPI_BufferIndex = 0; }
DebugOut.
Analog[0] = FromFlightCtrl.
IntegralNick;
DebugOut.
Analog[1] = FromFlightCtrl.
IntegralRoll;
DebugOut.
Analog[2] = (30*FromFlightCtrl.
AccNick)/108;
DebugOut.
Analog[3] = (30*FromFlightCtrl.
AccRoll)/108;
/* DebugOut.Analog[2] = FromFlightCtrl.StickNick;
DebugOut.Analog[3] = FromFlightCtrl.Command;
DebugOut.Analog[4] = FromFlightCtrl.StickRoll;
DebugOut.Analog[5] = FromFlightCtrl.StickGier;
*/
DebugOut.
Analog[25] = FromFlightCtrl.
GyroCompass;
}
//------------------------------------------------------
void UpdateSPI_Buffer
(void)
{
if(CompassUpdateActiv
) return; // testweise deaktiviert
if(SPI_RXUpdatebufferRequest
)
{
VIC_ITCmd
(SSP0_ITLine
, DISABLE
);
ToFlightCtrl.
CompassValue = I2C_Heading.
Heading;
ToFlightCtrl.
GPS_Nick = GPS_Nick
;
ToFlightCtrl.
GPS_Roll = GPS_Roll
;
DebugOut.
Analog[26] = I2C_Heading.
Heading;
ToFlightCtrl.
Command = SPI_CommandSequence
[SPI_CommandCounter
++];
if (SPI_CommandCounter
>= sizeof(SPI_CommandSequence
)) SPI_CommandCounter
= 0;
switch (ToFlightCtrl.
Command)
{
case SPI_CMD_OSD_DATA
:
ToFlightCtrl.
Param.
Byte[0] = OsdBar
;
ToFlightCtrl.
Param.
Int[1] = OsdDistance
;
break;
case SPI_CMD_GPS_POS
:
ToFlightCtrl.
Param.
Long[0] = GPS_Data.
Longitude;
ToFlightCtrl.
Param.
Long[1] = GPS_Data.
Latitude;
break;
case SPI_CMD_GPS_TARGET
:
ToFlightCtrl.
Param.
Long[0] = GPS_Data.
TargetLongitude;
ToFlightCtrl.
Param.
Long[1] = GPS_Data.
TargetLatitude;
break;
default:
break;
}
VIC_ITCmd
(SSP0_ITLine
, ENABLE
);
if (I2C_Heading.
Heading <= 359)
{
}
else
{
if (I2C_Version.
Hauptversion != 0xff) TimerCompassUpdate
= SetDelay
(1);
return;
}
SPI_TXUpdatebufferRequest
= 0;
//----------------
// DebugOut.Analog[11] = FromFlightCtrl.Command;
switch(FromFlightCtrl.
Command)
{
case SPI_CMD_USER
:
DebugOut.
Analog[7]++;
Parameter_UserParam1
= FromFlightCtrl.
Param.
Byte[0];
Parameter_UserParam2
= FromFlightCtrl.
Param.
Byte[1];
Parameter_UserParam3
= FromFlightCtrl.
Param.
Byte[2];
Parameter_UserParam4
= FromFlightCtrl.
Param.
Byte[3];
Parameter_UserParam5
= FromFlightCtrl.
Param.
Byte[4];
Parameter_UserParam6
= FromFlightCtrl.
Param.
Byte[5];
Parameter_UserParam7
= FromFlightCtrl.
Param.
Byte[6];
Parameter_UserParam8
= FromFlightCtrl.
Param.
Byte[7];
if(ClearFlags
) {MikroKopterFlags
= 0; ClearFlags
= 0;};
MikroKopterFlags
|= (s32
) FromFlightCtrl.
Param.
Byte[8];
UBat
= FromFlightCtrl.
Param.
Byte[9];
UndervoltageLevel
= FromFlightCtrl.
Param.
Byte[10];
ActiveSetting
= FromFlightCtrl.
Param.
Byte[11];
//DebugOut.Analog[7] = MikroKopterFlags;
if(MikroKopterFlags
& 0x004) DebugOut.
Analog[8]++;
break;
case SPI_CMD_PARAMETER1
:
Parameter_NaviGpsModeControl
= FromFlightCtrl.
Param.
Byte[0];
Parameter_NaviGpsGain
= FromFlightCtrl.
Param.
Byte[1];
Parameter_NaviGpsP
= FromFlightCtrl.
Param.
Byte[2];
Parameter_NaviGpsI
= FromFlightCtrl.
Param.
Byte[3];
Parameter_NaviGpsD
= FromFlightCtrl.
Param.
Byte[4];
Parameter_NaviGpsACC
= FromFlightCtrl.
Param.
Byte[5];
Parameter_NaviGpsMinSat
= FromFlightCtrl.
Param.
Byte[6];
Parameter_NaviStickThreshold
= FromFlightCtrl.
Param.
Byte[7];
Parameter_RadiusAlert
= FromFlightCtrl.
Param.
Byte[8];
break;
case SPI_CMD_STICK
:
FC_StickGas
= (s32
) FromFlightCtrl.
Param.
sByte[0];
FC_StickGier
= (s32
) FromFlightCtrl.
Param.
sByte[1];
FC_StickNick
= (s32
) FromFlightCtrl.
Param.
sByte[2];
FC_StickRoll
= (s32
) FromFlightCtrl.
Param.
sByte[3];
FC_Poti1
= (s32
) FromFlightCtrl.
Param.
Byte[4];
FC_Poti2
= (s32
) FromFlightCtrl.
Param.
Byte[5];
FC_Poti3
= (s32
) FromFlightCtrl.
Param.
Byte[6];
FC_Poti4
= (s32
) FromFlightCtrl.
Param.
Byte[7];
SenderOkay
= (s32
) FromFlightCtrl.
Param.
Byte[8];
break;
case SPI_CMD_CAL_COMPASS
:
DebugOut.
Analog[9]++;
CompassCalState
= FromFlightCtrl.
Param.
Byte[0];
break;
default:
break;
}
//------------
I2C_WriteNickRoll.
Roll = FromFlightCtrl.
IntegralRoll;
I2C_WriteNickRoll.
Nick = FromFlightCtrl.
IntegralNick;
Navigation
();
SPI_RXUpdatebufferRequest
= 0;
}
}