/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + 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
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <string.h>
#include <math.h>
#include "91x_lib.h"
#include "led.h"
#include "gps.h"
#include "uart1.h"
#include "spi_slave.h"
#include "compass.h"
#include "timer1.h"
#include "timer2.h"
#include "config.h"
#include "main.h"
#include "compass.h"
#include "params.h"
#include "stdlib.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 2500 //ms
volatile u32 SPI0_Timeout
= 0;
u8 Logging_FCStatusFlags1
= 0,Logging_FCStatusFlags2
= 0;
u8 SpeakHoTT
= 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
+ 10];
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
+10];
volatile u8 SPI_RxBufferIndex
= 0;
volatile u8 SPI_RxBuffer_Request
= 0;
#define SPI_COMMAND_INDEX 0
s32 Kalman_K
= 32;
s32 Kalman_MaxDrift
= 5 * 16;
s32 Kalman_MaxFusion
= 64;
s32 Kalman_Kompass
= 32;
s32 ToFcGpsZ
= 0;
u8 CompassCalState
= 0;
u8 SPI_CommandSequence
[] = { SPI_NCCMD_VERSION
, SPI_NCCMD_KALMAN
, SPI_NCCMD_GPSINFO
,SPI_NCCMD_KALMAN
, SPI_NCCMD_HOTT_INFO
, SPI_NCCMD_KALMAN
, SPI_MISC
, SPI_NCCMD_KALMAN
};
u8 SPI_CommandCounter
= 0;
s32 ToFC_Rotate_C
= 64, ToFC_Rotate_S
= 0;
s32 HeadFreeStartAngle
= 0;
s16 FC_WP_EventChannel
= 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde
u32 ToFC_AltitudeRate
= 0;
s32 ToFC_AltitudeSetpoint
= 0;
u8 FromFC_VarioCharacter
= ' ';
u8 GPS_Aid_StickMultiplikator
= 0;
u8 NC_GPS_ModeCharacter
= ' ';
u8 FCCalibActive
= 0;
u8 FC_is_Calibrated
= 0;
Motor_t Motor
[12];
u8 NC_To_FC_Flags
= 0;
u8 BL_MinOfMaxPWM
; // indication if all BL-controllers run on full power
u32 FC_I2C_ErrorConter
;
SPI_Version_t FC_Version
;
s16 POI_KameraNick
= 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
if(SPIWatchDog
== 0) *Ptr_TxChksum
+= 1; // disturbe this packet to stop the communication!
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;
VIC1
->VAR
= 0xFF; // write any value to VIC0 Vector address register
}
//--------------------------------------------------------------
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
);
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,hott_index
= 0;
s16 tmp
;
s32 i1
,i2
;
SPIWatchDog
= 3500; // stop communication to FC after this timeout
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 = Compass_Heading
;
DebugOut.
Analog[10] = ToFlightCtrl.
CompassHeading;
if(ToFlightCtrl.
CompassHeading >= 0) ToFlightCtrl.
CompassHeading = (360 + ToFlightCtrl.
CompassHeading + FromFlightCtrl.
GyroYaw / 12) % 360;
// ToFlightCtrl.MagVecX = MagVector.X;
// ToFlightCtrl.MagVecY = MagVector.Y;
ToFlightCtrl.
MagVecZ = MagVector.
Z;
ToFlightCtrl.
NCStatus = 0;
// cycle spi commands
ToFlightCtrl.
Command = SPI_CommandSequence
[SPI_CommandCounter
++];
// restart command cycle at the end
if(SPI_CommandCounter
>= sizeof(SPI_CommandSequence
)) SPI_CommandCounter
= 0;
#define FLAG_GPS_AID 0x01
switch (ToFlightCtrl.
Command)
{
case SPI_NCCMD_KALMAN
: // wird am häufigsten betätigt
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
) Kalman_Kompass
;
ToFlightCtrl.
Param.
sByte[4] = (s8
) ToFcGpsZ
;
ToFlightCtrl.
Param.
Byte[5] = (s8
) ToFC_Rotate_C
;
ToFlightCtrl.
Param.
Byte[6] = (s8
) ToFC_Rotate_S
;
ToFlightCtrl.
Param.
Byte[7] = GPS_Aid_StickMultiplikator
;
if(CAM_Orientation.
UpdateMask & CAM_UPDATE_AZIMUTH
)
{
ToFlightCtrl.
Param.
sInt[4] = CAM_Orientation.
Azimuth;
CAM_Orientation.
UpdateMask &= ~CAM_UPDATE_AZIMUTH
;
}
else
{
ToFlightCtrl.
Param.
sInt[4] = -1;
}
if(NCRARAM_STATE_VALID
== NCParams_GetValue
(NCPARAMS_NEW_CAMERA_ELEVATION
, &tmp
)) // Elevation set via 'j' command
{
POI_KameraNick
= tmp
;
}
else
{
//if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active
POI_KameraNick
= CAM_Orientation.
Elevation;
//else ToFlightCtrl.Param.sInt[5] = 0;
}
ToFlightCtrl.
Param.
sInt[5] = POI_KameraNick
;
break;
case SPI_NCCMD_VERSION
:
//+++++++++++++++++++++++++++++++++++++++++++++++++++
//+ higher than the maximum allowed altitude
//+++++++++++++++++++++++++++++++++++++++++++++++++++
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] = Version_HW
;
ToFlightCtrl.
Param.
Byte[5] = DebugOut.
StatusGreen;
ToFlightCtrl.
Param.
Byte[6] = DebugOut.
StatusRed;
ToFlightCtrl.
Param.
Byte[7] = ErrorCode
;
ToFlightCtrl.
Param.
Byte[8] = NC_GPS_ModeCharacter
;
ToFlightCtrl.
Param.
Byte[9] = SerialLinkOkay
;
ToFlightCtrl.
Param.
Byte[10] = NC_To_FC_Flags
;
if(AbsoluteFlyingAltitude
> 255) ToFlightCtrl.
Param.
Byte[11] = 0; // then the limitation of the FC doesn't work
else ToFlightCtrl.
Param.
Byte[11] = AbsoluteFlyingAltitude
;
break;
case SPI_MISC
:
ToFlightCtrl.
Param.
Byte[0] = EarthMagneticFieldFiltered
/5;
ToFlightCtrl.
Param.
Byte[1] = EarthMagneticInclination
;
ToFlightCtrl.
Param.
Byte[2] = EarthMagneticInclinationTheoretic
;
ToFlightCtrl.
Param.
Byte[3] = SpeakHoTT
;
ToFlightCtrl.
Param.
Byte[4] = 0;
ToFlightCtrl.
Param.
Byte[5] = 0;
ToFlightCtrl.
Param.
Byte[6] = 0;
ToFlightCtrl.
Param.
Byte[7] = 0;
ToFlightCtrl.
Param.
Byte[8] = 0;
ToFlightCtrl.
Param.
Byte[9] = 0;
ToFlightCtrl.
Param.
Byte[10] = 0;
ToFlightCtrl.
Param.
Byte[11] = 0;
//DebugOut.Analog[16] = SpeakHoTT;
SpeakHoTT
= 0;
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 //4&5
ToFlightCtrl.
Param.
sInt[3] = NaviData.
HomePositionDeviation.
Bearing; // deg //6&7
if(FC_WP_EventChannel
> 254) FC_WP_EventChannel
= 254;
ToFlightCtrl.
Param.
Byte[8] = (s8
)(FC_WP_EventChannel
- 127);
if(NCRARAM_STATE_VALID
== NCParams_GetValue
(NCPARAMS_ALTITUDE_RATE
, &tmp
))
{
ToFlightCtrl.
Param.
Byte[9] = (u8
)tmp
;
}
else
{
ToFlightCtrl.
Param.
Byte[9] = (u8
)ToFC_AltitudeRate
;
}
if(NCRARAM_STATE_VALID
== NCParams_GetValue
(NCPARAMS_ALTITUDE_SETPOINT
, &tmp
))
{
ToFlightCtrl.
Param.
sInt[5] = tmp
;
}
else
{
ToFlightCtrl.
Param.
sInt[5] = (s16
)ToFC_AltitudeSetpoint
;
}
break;
case SPI_NCCMD_HOTT_INFO
:
switch(hott_index
++)
{
case 0:
//Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden
//53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017"
ToFlightCtrl.
Param.
Byte[11] = HOTT_GPS_PACKET_ID
;
ToFlightCtrl.
Param.
Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden
ToFlightCtrl.
Param.
Byte[1] = 9-1; // how many
//-----------------------------
ToFlightCtrl.
Param.
Byte[2] = FromFlightCtrl.
GyroHeading / 20;//NaviData.HomePositionDeviation.Bearing / 2;
i1
= GPSData.
Speed_Ground; // in cm/sec
i1
*= 36;
i1
/= 1000;
ToFlightCtrl.
Param.
Byte[3] = i1
% 256;
ToFlightCtrl.
Param.
Byte[4] = i1
/ 256;
//-----------------------------
if(GPSData.
Position.
Latitude < 0) ToFlightCtrl.
Param.
Byte[5] = 1; // 1 = S
else ToFlightCtrl.
Param.
Byte[5] = 0; // 1 = S
i1
= abs(GPSData.
Position.
Latitude)/10000000L;
i2
= abs(GPSData.
Position.
Latitude)%10000000L
;
if(!(NCFlags
& NC_FLAG_GPS_OK
)) {i1
= 0; i2
= 0;}
i1
*= 100;
i1
+= i2
/ 100000;
i2
= i2
% 100000;
i2
/= 10;
ToFlightCtrl.
Param.
Byte[6] = i1
% 256;
ToFlightCtrl.
Param.
Byte[7] = i1
/ 256;
ToFlightCtrl.
Param.
Byte[8] = i2
% 256;
ToFlightCtrl.
Param.
Byte[9] = i2
/ 256;
break;
case 1:
ToFlightCtrl.
Param.
Byte[11] = HOTT_GPS_PACKET_ID
;
ToFlightCtrl.
Param.
Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden
ToFlightCtrl.
Param.
Byte[1] = 8-1; // how many
//-----------------------------
if(GPSData.
Position.
Longitude < 0) ToFlightCtrl.
Param.
Byte[2] = 1; // 1 = E
else ToFlightCtrl.
Param.
Byte[2] = 0; // 1 = S
i1
= abs(GPSData.
Position.
Longitude)/10000000L;
i2
= abs(GPSData.
Position.
Longitude)%10000000L
;
if(!(NCFlags
& NC_FLAG_GPS_OK
)) {i1
= 0; i2
= 0;}
i1
*= 100;
i1
+= i2
/ 100000;
i2
= i2
% 100000;
i2
/= 10;
ToFlightCtrl.
Param.
Byte[3] = i1
% 256;
ToFlightCtrl.
Param.
Byte[4] = i1
/ 256;
ToFlightCtrl.
Param.
Byte[5] = i2
% 256;
ToFlightCtrl.
Param.
Byte[6] = i2
/ 256;
//-----------------------------
i1
= NaviData.
HomePositionDeviation.
Distance / 10; // dann in m
ToFlightCtrl.
Param.
Byte[7] = i1
% 256;
ToFlightCtrl.
Param.
Byte[8] = i1
/ 256;
break;
case 2:
ToFlightCtrl.
Param.
Byte[11] = HOTT_GENERAL_PACKET_ID
;
ToFlightCtrl.
Param.
Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden
ToFlightCtrl.
Param.
Byte[1] = 2; // how many
ToFlightCtrl.
Param.
Byte[2] = EarthMagneticField
/ (5 * 2);
ToFlightCtrl.
Param.
Byte[3] = EarthMagneticInclination
/ 2;
hott_index
= 0;
break;
default:
ToFlightCtrl.
Param.
Byte[0] = 255;
hott_index
= 0;
break;
}
break;
default:
break;
// 0 = 0,1
// 1 = 2,3
// 2 = 4,5
// 3 = 6,7
// 4 = 8,9
// 5 = 10,11
}
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(ClearFCStatusFlags
)
{
FC.
StatusFlags = 0;
ClearFCStatusFlags
= 0;
}
FC.
StatusFlags |= FromFlightCtrl.
Param.
Byte[8];
if(FC.
StatusFlags & FC_STATUS_CALIBRATE
&& !FCCalibActive
)
{
HeadFreeStartAngle
= Compass_Heading
* 10;
Compass_Init
();
FCCalibActive
= 10;
FC_is_Calibrated
= 0;
}
else
{
if(FCCalibActive
) if(--FCCalibActive
== 0) FC_is_Calibrated
= 1;
}
if(FC.
StatusFlags & FC_STATUS_START
)
{
if(Compass_Heading
!= -1) HeadFreeStartAngle
= Compass_Heading
* 10; else
HeadFreeStartAngle
= FromFlightCtrl.
GyroHeading;
}
if((Parameter.
ExtraConfig & CFG_TEACHABLE_CAREFREE
))
{
if(!(FC.
StatusFlags2 & FC_STATUS2_CAREFREE
)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen
{
if((NaviData.
HomePositionDeviation.
Distance > 200) && (NCFlags
& NC_FLAG_GPS_OK
)) // nur bei ausreichender Distance -> 20m
{
HeadFreeStartAngle
= (10 * NaviData.
HomePositionDeviation.
Bearing + 1800 + 3600 - Parameter.
OrientationAngle * 150) % 3600; // in 0.1°
}
else // Ansonsten die aktuelle Richtung übernehmen
HeadFreeStartAngle
= (3600 + FromFlightCtrl.
GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1°
}
}
Parameter.
ActiveSetting = FromFlightCtrl.
Param.
Byte[9];
DebugOut.
Analog[5] = FC.
StatusFlags;
NaviData.
FCStatusFlags = FC.
StatusFlags;
FC.
StatusFlags2 = FromFlightCtrl.
Param.
Byte[11];
NaviData.
FCStatusFlags2 = (NaviData.
FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE
| FC_STATUS2_OUT2_ACTIVE
)) | (FC.
StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE
| FC_STATUS2_OUT2_ACTIVE
)));
if((!(LastTransmittedFCStatusFlags2
& FC_STATUS2_OUT1_ACTIVE
)) && (FC.
StatusFlags2 & FC_STATUS2_OUT1_ACTIVE
)) NaviData.
FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE
;
else
if(((LastTransmittedFCStatusFlags2
& FC_STATUS2_OUT1_ACTIVE
)) && !(FC.
StatusFlags2 & FC_STATUS2_OUT1_ACTIVE
)) NaviData.
FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE
;
if((!(LastTransmittedFCStatusFlags2
& FC_STATUS2_OUT2_ACTIVE
)) && (FC.
StatusFlags2 & FC_STATUS2_OUT2_ACTIVE
)) NaviData.
FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE
;
else
if(((LastTransmittedFCStatusFlags2
& FC_STATUS2_OUT2_ACTIVE
)) && !(FC.
StatusFlags2 & FC_STATUS2_OUT2_ACTIVE
)) NaviData.
FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE
;
Logging_FCStatusFlags1
|= FC.
StatusFlags;
Logging_FCStatusFlags2
|= FC.
StatusFlags2;
Parameter.
ComingHomeAltitude = FromFlightCtrl.
Param.
Byte[10];
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];
FromFC_VarioCharacter
= FromFlightCtrl.
Param.
Byte[6];
Motor
[FromFlightCtrl.
Param.
Byte[7]].
MaxPWM = FromFlightCtrl.
Param.
Byte[8];
Motor
[FromFlightCtrl.
Param.
Byte[7]].
State = FromFlightCtrl.
Param.
Byte[9];
Motor
[FromFlightCtrl.
Param.
Byte[7]].
Temperature = FromFlightCtrl.
Param.
Byte[10];
Motor
[FromFlightCtrl.
Param.
Byte[7]].
Current = FromFlightCtrl.
Param.
Byte[11];
if(FromFC_VarioCharacter
== '+' || FromFC_VarioCharacter
== '-') // manual setpoint clears the NC-Parameter command
{
NCParams_ClearValue
(NCPARAMS_ALTITUDE_RATE
);
}
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.
NaviAccCompensation,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
// if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0)
{
CompassCalState
= FromFlightCtrl.
Param.
Byte[0];
Compass_SetCalState
(CompassCalState
);
}
// else CompassCalState = 0;
}
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]; // in 5cm
NaviData.
SetpointAltitude = FromFlightCtrl.
Param.
sInt[2]; // in 5cm
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];
if(!FC.
RC_RSSI) NaviData.
RC_Quality = FC.
RC_Quality; else NaviData.
RC_Quality = FC.
RC_RSSI;
// 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];
BL_MinOfMaxPWM
= FromFlightCtrl.
Param.
Byte[10];
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.
Error[0] |= FromFlightCtrl.
Param.
Byte[5];
FC.
Error[1] |= FromFlightCtrl.
Param.
Byte[6];
FC.
Error[2] |= FromFlightCtrl.
Param.
Byte[7];
Parameter.
GlobalConfig = FromFlightCtrl.
Param.
Byte[8];
Parameter.
ExtraConfig = FromFlightCtrl.
Param.
Byte[9];
Parameter.
OrientationAngle = FromFlightCtrl.
Param.
Byte[10];
Parameter.
GlobalConfig3 = FromFlightCtrl.
Param.
Byte[11];
DebugOut.
StatusGreen |= AMPEL_FC
; // status of FC Present
DebugOut.
StatusGreen |= AMPEL_BL
; // status of BL Present
if(FC.
Error[0] || FC.
Error[1] || FC.
Error[2] || FC.
Error[3] || FC.
Error[4]) DebugOut.
StatusRed |= AMPEL_FC
;
else DebugOut.
StatusRed &= ~AMPEL_FC
;
break;
default:
break;
}
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
// every time we got new data from the FC via SPI call the navigation routine
// and update GPSStick that are returned to FC
SPI_RxBuffer_Request
= 0;
/*
//+++++++++++++++++++++++++++++++++++++++++++++++++++
*/
//+++++++++++++++++++++++++++++++++++++++++++++++++++
// in SPI Einkommentieren, falls der Flug simultert werden soll
/*
if(Parameter.User8 < 100) FC.StatusFlags = 0;
else
if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START;
else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN;
BL_MinOfMaxPWM = 255;
*/
//+++++++++++++++++++++++++++++++++++++++++++++++++++
GPS_Navigation
(&GPSData
, &(ToFlightCtrl.
GPSStick));
ClearFCStatusFlags
= 1;
if(counter
)
{
counter
--; // count down to enable servo
if(!counter
) TIMER2_Init
(); // enable Servo Output
}
timeout
= SetDelay
(80); // 80 ms, new data are send every 20 ms
} // 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 Looking for FlightControl");
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
++;
FCCalibActive
= 1;
}while((FC_Version.
Major == 0xFF) && (repeat
< 40)); // 40*250ms = 10s
// if we got it
if (FC_Version.
Major != 0xFF)
{
sprintf(msg
, " FC 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
);
}
else UART1_PutString
("\n\r not found!");
}