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/*#######################################################################################*/
/* !!! 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 <string.h>
#include "91x_lib.h"
#include "led.h"
#include "GPS.h"
#include "uart1.h"
#include "spi_slave.h"
#include "i2c.h"
#include "timer.h"
#include "main.h"
#include "fifo.h"
#define SPI_RXSYNCBYTE1 0xAA
#define SPI_RXSYNCBYTE2 0x83
#define SPI_TXSYNCBYTE1 0x81
#define SPI_TXSYNCBYTE2 0x55
typedef enum
{
SPI_SYNC1
,
SPI_SYNC2
,
SPI_DATA
} SPI_State_t
;
//communication packets
volatile FromFlightCtrl_t FromFlightCtrl
;
volatile ToFlightCtrl_t ToFlightCtrl
;
// tx packet buffer
#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization
volatile u8 SPI_TxBuffer
[SPI_TXBUFFER_LEN
];
volatile u8 SPI_TxBufferIndex
= 0;
u8
*Ptr_TxChksum
= NULL
; // pointer to checksum in TxBuffer
// rx packet buffer
#define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl)
volatile u8 SPI_RxBuffer
[SPI_RXBUFFER_LEN
];
volatile u8 SPI_RxBufferIndex
= 0;
volatile u8 SPI_RxBuffer_Request
= 0;
#define SPI_COMMAND_INDEX 0
s32 FC_Kalman_K
= 32;
s32 Kalman_MaxDrift
= 5 * 16;
s32 Kalman_MaxFusion
= 64;
u32 CheckSPIOkay
= 0;
u8 SPI_CommandSequence
[] = { SPI_KALMAN
, SPI_CMD_OSD_DATA
, SPI_CMD_GPS_POS
, SPI_KALMAN
, SPI_CMD_GPS_TARGET
};
u8 SPI_CommandCounter
= 0;
SPI_Version_t FC_Version
;
u8 CompassCalStateQueue
[10];
fifo_t CompassCalcStateFiFo
;
u8 CompassCalState
= 0;
//--------------------------------------------------------------
void SSP0_IRQHandler
(void)
{
static u8 rxchksum
= 0;
u8 rxdata
;
static SPI_State_t SPI_State
= SPI_SYNC1
;
// clear pending bit
SSP_ClearITPendingBit
(SSP0
, SSP_IT_RxTimeOut
);
// Fill TxFIFO while its not full or end of packet is reached
while (SSP_GetFlagStatus
(SSP0
, SSP_FLAG_TxFifoNotFull
) == SET
)
{
if (SPI_TxBufferIndex
< SPI_TXBUFFER_LEN
) // still data to send ?
{
SSP0
->DR
= SPI_TxBuffer
[SPI_TxBufferIndex
]; // send a byte
*Ptr_TxChksum
+= SPI_TxBuffer
[SPI_TxBufferIndex
]; // update checksum
SPI_TxBufferIndex
++; // pointer to next byte
}
else // TxBuffer end is reached then reset and copy data to tx buffer
{
SPI_TxBufferIndex
= 0; // reset buffer index
ToFlightCtrl.
Chksum = 0; // initialize checksum
ToFlightCtrl.
BeepTime = BeepTime
; // set beeptime
BeepTime
= 0; // reset local beeptime
// copy contents of ToFlightCtrl->SPI_TxBuffer
memcpy( (u8
*) &(SPI_TxBuffer
[2]), (u8
*) &ToFlightCtrl
, sizeof(ToFlightCtrl
));
}
}
// while RxFIFO not empty
while (SSP_GetFlagStatus
(SSP0
, SSP_FLAG_RxFifoNotEmpty
)==SET
)
{
rxdata
= SSP0
->DR
; // catch the received byte
// Fill TxFIFO while its not full or end of packet is reached
while (SSP_GetFlagStatus
(SSP0
, SSP_FLAG_TxFifoNotFull
) == SET
)
{
if (SPI_TxBufferIndex
< SPI_TXBUFFER_LEN
) // still data to send ?
{
SSP0
->DR
= SPI_TxBuffer
[SPI_TxBufferIndex
]; // send a byte
*Ptr_TxChksum
+= SPI_TxBuffer
[SPI_TxBufferIndex
]; // update checksum
SPI_TxBufferIndex
++; // pointer to next byte
}
else // end of packet is reached reset and copy data to tx buffer
{
SPI_TxBufferIndex
= 0; // reset buffer index
ToFlightCtrl.
Chksum = 0; // initialize checksum
ToFlightCtrl.
BeepTime = BeepTime
; // set beeptime
BeepTime
= 0; // reset local beeptime
// copy contents of ToFlightCtrl->SPI_TxBuffer
memcpy((u8
*) &(SPI_TxBuffer
[2]), (u8
*) &ToFlightCtrl
, sizeof(ToFlightCtrl
));
}
}
switch (SPI_State
)
{
case SPI_SYNC1
:
SPI_RxBufferIndex
= 0; // reset buffer index
rxchksum
= rxdata
; // init checksum
if (rxdata
== SPI_RXSYNCBYTE1
)
{ // 1st syncbyte ok
SPI_State
= SPI_SYNC2
; // step to sync2
}
break;
case SPI_SYNC2
:
if (rxdata
== SPI_RXSYNCBYTE2
)
{ // 2nd Syncbyte ok
rxchksum
+= rxdata
;
SPI_State
= SPI_DATA
;
} // 2nd Syncbyte does not match
else
{
SPI_State
= SPI_SYNC1
; //jump back to sync1
}
break;
case SPI_DATA
:
SPI_RxBuffer
[SPI_RxBufferIndex
++]= rxdata
; // copy databyte to rx buffer
if (SPI_RxBufferIndex
>= SPI_RXBUFFER_LEN
) // end of packet is reached
{
if (rxdata
== rxchksum
) // verify checksum byte
{
// copy SPI_RxBuffer -> FromFlightCtrl
if(!SPI_RxBuffer_Request
) // block writing to FromFlightCtrl on reading access
{
memcpy((u8
*) &FromFlightCtrl
, (u8
*) SPI_RxBuffer
, sizeof(FromFlightCtrl
));
SPI_RxBuffer_Request
= 1;
}
CheckSPIOkay
++;
DebugOut.
Analog[13]++;
}
else // bad checksum byte
{
DebugOut.
Analog[12]++; // increase SPI chksum error counter
}
SPI_State
= SPI_SYNC1
; // reset state
}
else // end of packet not reached
{
rxchksum
+= rxdata
; // update checksum
}
break;
default:
SPI_State
= SPI_SYNC1
;
break;
}
}
}
//--------------------------------------------------------------
void SPI0_Init
(void)
{
GPIO_InitTypeDef GPIO_InitStructure
;
SSP_InitTypeDef SSP_InitStructure
;
SerialPutString
("\r\n SPI init...");
SCU_APBPeriphClockConfig
(__GPIO2
,ENABLE
);
SCU_APBPeriphClockConfig
(__SSP0
,ENABLE
);
GPIO_DeInit
(GPIO2
);
//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins
GPIO_StructInit
(&GPIO_InitStructure
);
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
; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
GPIO_Init
(GPIO2
, &GPIO_InitStructure
);
// SSP0_MISO pin GPIO2.6
GPIO_StructInit
(&GPIO_InitStructure
);
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
; //SSP0_MISO
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
);
fifo_init
(&CompassCalcStateFiFo
, CompassCalStateQueue
, sizeof(CompassCalStateQueue
));
SSP_Cmd
(SSP0
, ENABLE
);
// initialize the syncbytes in the tx buffer
SPI_TxBuffer
[0] = SPI_TXSYNCBYTE1
;
SPI_TxBuffer
[1] = SPI_TXSYNCBYTE2
;
// set the pointer to the checksum byte in the tx buffer
Ptr_TxChksum
= (u8
*) &(((ToFlightCtrl_t
*) &(SPI_TxBuffer
[2]))->Chksum
);
VIC_Config
(SSP0_ITLine
, VIC_IRQ
, 1);
VIC_ITCmd
(SSP0_ITLine
, ENABLE
);
SerialPutString
("ok");
}
//------------------------------------------------------
void SPI0_UpdateBuffer
(void)
{
if (SPI_RxBuffer_Request
)
{
// avoid sending data via SPI during the update of the ToFlightCtrl structure
VIC_ITCmd
(SSP0_ITLine
, DISABLE
); // disable SPI interrupt
ToFlightCtrl.
CompassHeading = I2C_Heading.
Heading;
ToFlightCtrl.
GPS_Nick = GPS_Stick.
Nick;
ToFlightCtrl.
GPS_Roll = GPS_Stick.
Roll;
ToFlightCtrl.
GPS_Yaw = GPS_Stick.
Yaw;
// cycle spi commands
ToFlightCtrl.
Command = SPI_CommandSequence
[SPI_CommandCounter
++];
if (SPI_CommandCounter
>= sizeof(SPI_CommandSequence
)) SPI_CommandCounter
= 0;
switch (ToFlightCtrl.
Command)
{
case SPI_KALMAN
:
ToFlightCtrl.
Param.
Byte[0] = (char) FC_Kalman_K
;
ToFlightCtrl.
Param.
Byte[1] = (char) Kalman_MaxFusion
;
ToFlightCtrl.
Param.
Byte[2] = (char) Kalman_MaxDrift
;
break;
case SPI_CMD_GPS_POS
:
ToFlightCtrl.
Param.
Long[0] = GPSData.
Position.
Longitude;
ToFlightCtrl.
Param.
Long[1] = GPSData.
Position.
Latitude;
break;
case SPI_CMD_GPS_TARGET
:
if(GPS_pTargetPosition
!= NULL
)
{
if(GPS_pTargetPosition
->Status
!= INVALID
)
{
ToFlightCtrl.
Param.
Long[0] = GPS_pTargetPosition
->Longitude
;
ToFlightCtrl.
Param.
Long[1] = GPS_pTargetPosition
->Latitude
;
}
else
{
ToFlightCtrl.
Param.
Long[0] = 0;
ToFlightCtrl.
Param.
Long[1] = 0;
}
}
else
{
ToFlightCtrl.
Param.
Long[0] = 0;
ToFlightCtrl.
Param.
Long[1] = 0;
}
break;
default:
break;
}
VIC_ITCmd
(SSP0_ITLine
, ENABLE
); // enable SPI interrupt
switch(FromFlightCtrl.
Command)
{
case SPI_CMD_USER
:
Parameter.
User1 = FromFlightCtrl.
Param.
Byte[0];
Parameter.
User2 = FromFlightCtrl.
Param.
Byte[1];
Parameter.
User3 = FromFlightCtrl.
Param.
Byte[2];
Parameter.
User4 = FromFlightCtrl.
Param.
Byte[3];
Parameter.
User5 = FromFlightCtrl.
Param.
Byte[4];
Parameter.
User6 = FromFlightCtrl.
Param.
Byte[5];
Parameter.
User7 = FromFlightCtrl.
Param.
Byte[6];
Parameter.
User8 = FromFlightCtrl.
Param.
Byte[7];
if(ClearMKFlags
)
{
FC.
MKFlags = 0;
ClearMKFlags
= 0;
}
FC.
MKFlags |= FromFlightCtrl.
Param.
Byte[8];
FC.
UBat = FromFlightCtrl.
Param.
Byte[9];
Parameter.
LowVoltageWarning = FromFlightCtrl.
Param.
Byte[10];
Parameter.
ActiveSetting = FromFlightCtrl.
Param.
Byte[11];
break;
#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;}
case SPI_CMD_PARAMETER1
:
CHK_POTI_MM
(Parameter.
NaviGpsModeControl,FromFlightCtrl.
Param.
Byte[0],0,255);
CHK_POTI_MM
(Parameter.
NaviGpsGain,FromFlightCtrl.
Param.
Byte[1],0,255);
CHK_POTI_MM
(Parameter.
NaviGpsP,FromFlightCtrl.
Param.
Byte[2],0,255);
CHK_POTI_MM
(Parameter.
NaviGpsI,FromFlightCtrl.
Param.
Byte[3],0,255);
CHK_POTI_MM
(Parameter.
NaviGpsD,FromFlightCtrl.
Param.
Byte[4],0,255);
CHK_POTI_MM
(Parameter.
NaviGpsACC,FromFlightCtrl.
Param.
Byte[5],0,255);
Parameter.
NaviGpsMinSat = FromFlightCtrl.
Param.
Byte[6];
Parameter.
NaviStickThreshold = FromFlightCtrl.
Param.
Byte[7];
CHK_POTI_MM
(Parameter.
NaviOperatingRadius,FromFlightCtrl.
Param.
Byte[8],10,255);
CHK_POTI_MM
(Parameter.
NaviWindCorrection,FromFlightCtrl.
Param.
Byte[9],0,255);
CHK_POTI_MM
(Parameter.
NaviSpeedCompensation,FromFlightCtrl.
Param.
Byte[10],0,255);
CHK_POTI_MM
(Parameter.
NaviAngleLimitation,FromFlightCtrl.
Param.
Byte[11],0,255);
// DebugOut.Analog[4] = Parameter.NaviRadiusAlert;
// DebugOut.Analog[5] = Parameter.NaviWindCorrection;
// DebugOut.Analog[6] = Parameter.NaviSpeedCompensation;
break;
case SPI_CMD_STICK
:
FC.
StickGas = FromFlightCtrl.
Param.
sByte[0];
FC.
StickYaw = FromFlightCtrl.
Param.
sByte[1];
FC.
StickRoll = FromFlightCtrl.
Param.
sByte[2];
FC.
StickNick = FromFlightCtrl.
Param.
sByte[3];
FC.
Poti1 = FromFlightCtrl.
Param.
Byte[4];
FC.
Poti2 = FromFlightCtrl.
Param.
Byte[5];
FC.
Poti3 = FromFlightCtrl.
Param.
Byte[6];
FC.
Poti4 = FromFlightCtrl.
Param.
Byte[7];
FC.
RC_Quality = FromFlightCtrl.
Param.
Byte[8];
break;
case SPI_CMD_MISC
:
if(CompassCalState
!= FromFlightCtrl.
Param.
Byte[0])
{ // put only new CompassCalState into queue to send via I2C
CompassCalState
= FromFlightCtrl.
Param.
Byte[0];
fifo_put
(&CompassCalcStateFiFo
, CompassCalState
);
}
NaviData.
Altimeter = (s16
) FromFlightCtrl.
Param.
Int[1];
break;
case SPI_CMD_VERSION
:
FC_Version.
Major = FromFlightCtrl.
Param.
Byte[0];
FC_Version.
Minor = FromFlightCtrl.
Param.
Byte[1];
FC_Version.
Patch = FromFlightCtrl.
Param.
Byte[2];
FC_Version.
Compatible = FromFlightCtrl.
Param.
Byte[3];
break;
default:
break;
}
// every time we got new data from the FC via SPI call the navigation routine
GPS_Navigation
();
ClearMKFlags
= 1;
SPI_RxBuffer_Request
= 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[25] = FromFlightCtrl.
GyroHeading;
} // EOF if(SPI_RxBuffer_Request)
}
//------------------------------------------------------
void SPI0_GetFlightCtrlVersion
(void)
{
u16 timeout
;
u8 msg
[20];
FC_Version.
Major = 0xFF;
FC_Version.
Minor = 0xFF;
FC_Version.
Patch = 0xFF;
FC_Version.
Compatible = 0xFF;
// polling FC version info for 2 second
timeout
= SetDelay
(2000);
do
{
SPI0_UpdateBuffer
();
if (FC_Version.
Major != 0xFF) break;
}while (!CheckDelay
(timeout
));
// if we got it
if (FC_Version.
Major != 0xFF)
{
sprintf(msg
, "\n\r FlightCtrl V%d.%d%c", FC_Version.
Major, FC_Version.
Minor, 'a'+FC_Version.
Patch);
SerialPutString
(msg
);
sprintf(msg
, " Compatible: %d", FC_Version.
Compatible);
SerialPutString
(msg
);
}
else SerialPutString
("\n\r No version information from FlightCtrl.");
}