/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + 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 oder Nutzung 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
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// + clearly linked as origin
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//
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// + 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 "timer1.h"
#include "timer2.h"
#include "config.h"
#include "main.h"
#include "fifo.h"
#define SPI_RXSYNCBYTE1 0xAA
#define SPI_RXSYNCBYTE2 0x83
#define SPI_TXSYNCBYTE1 0x81
#define SPI_TXSYNCBYTE2 0x55
//communication packets
FromFlightCtrl_t FromFlightCtrl
;
ToFlightCtrl_t ToFlightCtrl
;
#define SPI0_TIMEOUT 500 // 500ms
volatile u32 SPI0_Timeout
= 0;
// 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
volatile u8 FC_ErrorCode
[5] = {0,0,0,0,0};
s32 Kalman_K
= 32;
s32 Kalman_MaxDrift
= 5 * 16;
s32 Kalman_MaxFusion
= 64;
s32 ToFcGpsZ
= 0;
u8 SPI_CommandSequence
[] = { SPI_NCCMD_VERSION
, SPI_NCCMD_KALMAN
, SPI_NCCMD_GPSINFO
,SPI_NCCMD_KALMAN
, SPI_NCCMD_KALMAN
};
u8 SPI_CommandCounter
= 0;
s32 ToFC_Rotate_C
= 64, ToFC_Rotate_S
= 0;
s32 HeadFreeStartAngle
= 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
;
#define SPI_SYNC1 0
#define SPI_SYNC2 1
#define SPI_DATA 2
static u8 SPI_State
= SPI_SYNC1
;
IENABLE
;
// clear pending bits
SSP_ClearITPendingBit
(SSP0
, SSP_IT_RxTimeOut
);
SSP_ClearITPendingBit
(SSP0
, SSP_IT_RxFifo
);
// 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;
}
// reset timeout counter on good packet
SPI0_Timeout
= SetDelay
(SPI0_TIMEOUT
);
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;
}
}
IDISABLE
;
}
//--------------------------------------------------------------
void SPI0_Init
(void)
{
GPIO_InitTypeDef GPIO_InitStructure
;
SSP_InitTypeDef SSP_InitStructure
;
UART1_PutString
("\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_IPInputConnected = GPIO_IPInputConnected_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_IPInputConnected = GPIO_IPInputConnected_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_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
);
ToFlightCtrl.
GPSStick.
Nick = 0;
ToFlightCtrl.
GPSStick.
Roll = 0;
ToFlightCtrl.
GPSStick.
Yaw = 0;
VIC_Config
(SSP0_ITLine
, VIC_IRQ
, PRIORITY_SPI0
);
VIC_ITCmd
(SSP0_ITLine
, ENABLE
);
SPI0_Timeout
= SetDelay
(4*SPI0_TIMEOUT
);
UART1_PutString
("ok");
}
//------------------------------------------------------
void SPI0_UpdateBuffer
(void)
{
static u32 timeout
= 0;
static u8 counter
= 50;
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;
DebugOut.
Analog[10] = ToFlightCtrl.
CompassHeading;
if(ToFlightCtrl.
CompassHeading >= 0) ToFlightCtrl.
CompassHeading = (360 + ToFlightCtrl.
CompassHeading + FromFlightCtrl.
GyroYaw / 12) % 360;
// cycle spi commands
ToFlightCtrl.
Command = SPI_CommandSequence
[SPI_CommandCounter
++];
// restart command cycle at the end
if (SPI_CommandCounter
>= sizeof(SPI_CommandSequence
)) SPI_CommandCounter
= 0;
switch (ToFlightCtrl.
Command)
{
case SPI_NCCMD_KALMAN
:
CalcHeadFree
();
ToFlightCtrl.
Param.
sByte[0] = (s8
) Kalman_K
;
ToFlightCtrl.
Param.
sByte[1] = (s8
) Kalman_MaxFusion
;
ToFlightCtrl.
Param.
sByte[2] = (s8
) Kalman_MaxDrift
;
ToFlightCtrl.
Param.
Byte[3] = (u8
) SerialLinkOkay
;
ToFlightCtrl.
Param.
sByte[4] = (s8
) ToFcGpsZ
;
ToFlightCtrl.
Param.
Byte[5] = (s8
) ToFC_Rotate_C
;
ToFlightCtrl.
Param.
Byte[6] = (s8
) ToFC_Rotate_S
;
break;
case SPI_NCCMD_VERSION
:
ToFlightCtrl.
Param.
Byte[0] = VERSION_MAJOR
;
ToFlightCtrl.
Param.
Byte[1] = VERSION_MINOR
;
ToFlightCtrl.
Param.
Byte[2] = VERSION_PATCH
;
ToFlightCtrl.
Param.
Byte[3] = FC_SPI_COMPATIBLE
;
ToFlightCtrl.
Param.
Byte[4] = BoardRelease
;
ToFlightCtrl.
Param.
Byte[5] = DebugOut.
Status[0];
ToFlightCtrl.
Param.
Byte[6] = DebugOut.
Status[1];
break;
case SPI_NCCMD_GPSINFO
:
ToFlightCtrl.
Param.
Byte[0] = GPSData.
Flags;
ToFlightCtrl.
Param.
Byte[1] = GPSData.
NumOfSats;
ToFlightCtrl.
Param.
Byte[2] = GPSData.
SatFix;
ToFlightCtrl.
Param.
Byte[3] = GPSData.
Speed_Ground / 100; // m/s
ToFlightCtrl.
Param.
Int[2] = NaviData.
HomePositionDeviation.
Distance; // dm
ToFlightCtrl.
Param.
sInt[3] = NaviData.
HomePositionDeviation.
Bearing; // deg
break;
default:
break;
}
VIC_ITCmd
(SSP0_ITLine
, ENABLE
); // enable SPI interrupt
switch(FromFlightCtrl.
Command)
{
case SPI_FCCMD_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(ClearFCFlags
)
{
FC.
Flags = 0;
ClearFCFlags
= 0;
}
FC.
Flags |= FromFlightCtrl.
Param.
Byte[8];
Parameter.
ActiveSetting = FromFlightCtrl.
Param.
Byte[9];
DebugOut.
Analog[5] = FC.
Flags;
NaviData.
FCFlags = FC.
Flags;
HeadFreeStartAngle
= (s32
) FromFlightCtrl.
Param.
Byte[10] * 20; // convert to 0.1°
break;
case SPI_FCCMD_ACCU
:
FC.
BAT_Current = FromFlightCtrl.
Param.
Int[0];
FC.
BAT_UsedCapacity = FromFlightCtrl.
Param.
Int[1];
FC.
BAT_Voltage = FromFlightCtrl.
Param.
Byte[4];
Parameter.
LowVoltageWarning = FromFlightCtrl.
Param.
Byte[5];
NaviData.
UBat = FC.
BAT_Voltage;
NaviData.
Current = FC.
BAT_Current;
NaviData.
UsedCapacity = FC.
BAT_UsedCapacity;
break;
#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
case SPI_FCCMD_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],0,255);
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);
break;
case SPI_FCCMD_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.
Poti[0] = FromFlightCtrl.
Param.
Byte[4];
FC.
Poti[1] = FromFlightCtrl.
Param.
Byte[5];
FC.
Poti[2] = FromFlightCtrl.
Param.
Byte[6];
FC.
Poti[3] = FromFlightCtrl.
Param.
Byte[7];
FC.
Poti[4] = FromFlightCtrl.
Param.
Byte[8];
FC.
Poti[5] = FromFlightCtrl.
Param.
Byte[9];
FC.
Poti[6] = FromFlightCtrl.
Param.
Byte[10];
FC.
Poti[7] = FromFlightCtrl.
Param.
Byte[11];
break;
case SPI_FCCMD_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
);
}
Parameter.
NaviPH_LoginTime = FromFlightCtrl.
Param.
Byte[1];
NaviData.
Variometer = (NaviData.
Variometer + 2 * (FromFlightCtrl.
Param.
sInt[1] - NaviData.
Altimeter)) / 2; // provisorisch
NaviData.
Altimeter = FromFlightCtrl.
Param.
sInt[1]; // is located at byte 2 and 3
NaviData.
SetpointAltitude = FromFlightCtrl.
Param.
sInt[2]; // is located at byte 4 and 5
CHK_POTI_MM
(Parameter.
NaviGpsPLimit,FromFlightCtrl.
Param.
Byte[6],0,255);
CHK_POTI_MM
(Parameter.
NaviGpsILimit,FromFlightCtrl.
Param.
Byte[7],0,255);
CHK_POTI_MM
(Parameter.
NaviGpsDLimit,FromFlightCtrl.
Param.
Byte[8],0,255);
FC.
RC_Quality = FromFlightCtrl.
Param.
Byte[9];
FC.
RC_RSSI = FromFlightCtrl.
Param.
Byte[10];
NaviData.
RC_Quality = FC.
RC_Quality;
NaviData.
RC_RSSI = FC.
RC_RSSI;
NaviData.
Gas = (FC.
BAT_Voltage * (u32
) FromFlightCtrl.
Param.
Byte[11]) / (u32
) Parameter.
LowVoltageWarning;
break;
case SPI_FCCMD_SERVOS
:
ServoParams.
Refresh = FromFlightCtrl.
Param.
Byte[0];
ServoParams.
CompInvert = FromFlightCtrl.
Param.
Byte[1];
ServoParams.
NickControl = FromFlightCtrl.
Param.
Byte[2];
ServoParams.
NickComp = FromFlightCtrl.
Param.
Byte[3];
ServoParams.
NickMin = FromFlightCtrl.
Param.
Byte[4];
ServoParams.
NickMax = FromFlightCtrl.
Param.
Byte[5];
ServoParams.
RollControl = FromFlightCtrl.
Param.
Byte[6];
ServoParams.
RollComp = FromFlightCtrl.
Param.
Byte[7];
ServoParams.
RollMin = FromFlightCtrl.
Param.
Byte[8];
ServoParams.
RollMax = FromFlightCtrl.
Param.
Byte[9];
break;
case SPI_FCCMD_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];
FC_Version.
Hardware = FromFlightCtrl.
Param.
Byte[4];
FC_ErrorCode
[0] = FromFlightCtrl.
Param.
Byte[5];
FC_ErrorCode
[1] = FromFlightCtrl.
Param.
Byte[6];
FC_ErrorCode
[2] = FromFlightCtrl.
Param.
Byte[7];
DebugOut.
Status[0] |= 0x01; // status of FC Present
DebugOut.
Status[0] |= 0x02; // status of BL Present
if(FC_ErrorCode
[0] || FC_ErrorCode
[1] || FC_ErrorCode
[2]) DebugOut.
Status[1] |= 0x01;
else DebugOut.
Status[1] &= ~
0x01;
break;
default:
break;
}
// every time we got new data from the FC via SPI call the navigation routine
// and update GPSStick that are returned to FC
GPS_Navigation
(&GPSData
, &(ToFlightCtrl.
GPSStick));
ClearFCFlags
= 1;
if(counter
)
{
counter
--; // count down to enable servo
if(!counter
) TIMER2_Init
(); // enable Servo Output
}
SPI_RxBuffer_Request
= 0;
timeout
= SetDelay
(80); // 80 ms, new data are send every 20 ms
DebugOut.
Analog[0] = FromFlightCtrl.
AngleNick;
DebugOut.
Analog[1] = FromFlightCtrl.
AngleRoll;
DebugOut.
Analog[2] = FromFlightCtrl.
AccNick;
DebugOut.
Analog[3] = FromFlightCtrl.
AccRoll;
DebugOut.
Analog[11] = FromFlightCtrl.
GyroHeading/10;// in deg
Data3D.
AngleNick = FromFlightCtrl.
AngleNick; // in 0.1 deg
Data3D.
AngleRoll = FromFlightCtrl.
AngleRoll; // in 0.1 deg
Data3D.
Heading = FromFlightCtrl.
GyroHeading; // in 0.1 deg
} // EOF if(SPI_RxBuffer_Request)
else // no new SPI data
{
if(CheckDelay
(timeout
) && (counter
== 0))
{
TIMER2_Deinit
(); // disable Servo Output
counter
= 50; // reset counter for enabling Servo Output
}
}
}
//------------------------------------------------------
void SPI0_GetFlightCtrlVersion
(void)
{
u32 timeout
;
u8 repeat
;
u8 msg
[64];
UART1_PutString
("\r\n Getting Version from FC");
FC_Version.
Major = 0xFF;
FC_Version.
Minor = 0xFF;
FC_Version.
Patch = 0xFF;
FC_Version.
Compatible = 0xFF;
// polling FC version info
repeat
= 0;
do
{
timeout
= SetDelay
(250);
do
{
SPI0_UpdateBuffer
();
if (FC_Version.
Major != 0xFF) break;
}while (!CheckDelay
(timeout
));
UART1_PutString
(".");
repeat
++;
}while((FC_Version.
Major == 0xFF) && (repeat
< 40)); // 40*250ms = 10s
// if we got it
if (FC_Version.
Major != 0xFF)
{
sprintf(msg
, "\n\r FlightCtrl V%d.%d%c HW:%d.%d", FC_Version.
Major, FC_Version.
Minor, 'a'+FC_Version.
Patch, FC_Version.
Hardware/10,FC_Version.
Hardware%10);
UART1_PutString
(msg
);
sprintf(msg
, " Compatible: %d", FC_Version.
Compatible);
UART1_PutString
(msg
);
}
else UART1_PutString
("\n\r No version information from FlightCtrl.");
}