Rev 903 | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
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304 | ingob | 1 | // ######################## SPI - FlightCtrl ################### |
886 | killagreg | 2 | #include <avr/io.h> |
3 | #include <avr/interrupt.h> |
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4 | #include <string.h> |
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5 | #include <stdlib.h> |
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6 | #include "_Settings.h" |
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7 | #include "spi.h" |
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8 | #include "fc.h" |
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9 | #include "rc.h" |
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10 | #include "eeprom.h" |
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11 | #include "uart.h" |
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12 | #include "timer0.h" |
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304 | ingob | 13 | |
886 | killagreg | 14 | #define SPI_TXSYNCBYTE1 0xAA |
15 | #define SPI_TXSYNCBYTE2 0x83 |
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16 | #define SPI_RXSYNCBYTE1 0x81 |
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17 | #define SPI_RXSYNCBYTE2 0x55 |
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304 | ingob | 18 | |
886 | killagreg | 19 | typedef enum |
20 | { |
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21 | SPI_SYNC1, |
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22 | SPI_SYNC2, |
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23 | SPI_DATA |
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24 | } SPI_RXState_t; |
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708 | ingob | 25 | |
606 | ingob | 26 | |
886 | killagreg | 27 | // data exchange packets to and From NaviCtrl |
28 | ToNaviCtrl_t ToNaviCtrl; |
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29 | FromNaviCtrl_t FromNaviCtrl; |
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708 | ingob | 30 | |
886 | killagreg | 31 | // rx packet buffer |
32 | #define SPI_RXBUFFER_LEN sizeof(FromNaviCtrl) |
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33 | uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
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34 | uint8_t SPI_RxBufferIndex = 0; |
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35 | uint8_t SPI_RxBuffer_Request = 0; |
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720 | ingob | 36 | |
886 | killagreg | 37 | // tx packet buffer |
38 | #define SPI_TXBUFFER_LEN sizeof(ToNaviCtrl) |
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39 | uint8_t *SPI_TxBuffer; |
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40 | uint8_t SPI_TxBufferIndex = 0; |
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823 | ingob | 41 | |
886 | killagreg | 42 | uint8_t SPITransferCompleted, SPI_ChkSum; |
43 | uint8_t SPI_RxDataValid; |
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44 | |||
45 | uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS }; |
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46 | uint8_t SPI_CommandCounter = 0; |
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47 | |||
597 | ingob | 48 | #ifdef USE_SPI_COMMUNICATION |
691 | ingob | 49 | |
886 | killagreg | 50 | /*********************************************/ |
51 | /* Initialize SPI interface to NaviCtrl */ |
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52 | /*********************************************/ |
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304 | ingob | 53 | void SPI_MasterInit(void) |
54 | { |
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886 | killagreg | 55 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
56 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
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57 | |||
58 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
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59 | SPSR = 0;//(1<<SPI2X); |
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60 | |||
61 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave |
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62 | |||
63 | SPI_TxBuffer = (uint8_t *) &ToNaviCtrl; // set pointer to tx-buffer |
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64 | SPITransferCompleted = 1; |
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65 | // initialize data packet to NaviControl |
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66 | ToNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
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67 | ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
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68 | |||
69 | ToNaviCtrl.Command = SPI_CMD_USER; |
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916 | pangu | 70 | ToNaviCtrl.IntegralNick = 0; |
886 | killagreg | 71 | ToNaviCtrl.IntegralRoll = 0; |
72 | SPI_RxDataValid = 0; |
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304 | ingob | 73 | } |
74 | |||
886 | killagreg | 75 | |
76 | /**********************************************************/ |
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77 | /* Update Data transferd by the SPI from/to NaviCtrl */ |
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78 | /**********************************************************/ |
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79 | void UpdateSPI_Buffer(void) |
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304 | ingob | 80 | { |
886 | killagreg | 81 | int16_t tmp; |
82 | cli(); // stop all interrupts to avoid writing of new data during update of that packet. |
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823 | ingob | 83 | |
886 | killagreg | 84 | // update content of packet to NaviCtrl |
916 | pangu | 85 | ToNaviCtrl.IntegralNick = (int16_t) (IntegralNick / 108); |
886 | killagreg | 86 | ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 108); |
87 | ToNaviCtrl.GyroHeading = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
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916 | pangu | 88 | ToNaviCtrl.GyroNick = Reading_GyroNick; |
886 | killagreg | 89 | ToNaviCtrl.GyroRoll = Reading_GyroRoll; |
90 | ToNaviCtrl.GyroYaw = Reading_GyroYaw; |
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916 | pangu | 91 | ToNaviCtrl.AccNick = (int16_t) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
886 | killagreg | 92 | ToNaviCtrl.AccRoll = (int16_t) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
916 | pangu | 93 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
691 | ingob | 94 | |
886 | killagreg | 95 | switch(ToNaviCtrl.Command) |
96 | { |
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97 | case SPI_CMD_USER: |
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98 | ToNaviCtrl.Param.Byte[0] = FCParam.UserParam1; |
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99 | ToNaviCtrl.Param.Byte[1] = FCParam.UserParam2; |
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100 | ToNaviCtrl.Param.Byte[2] = FCParam.UserParam3; |
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101 | ToNaviCtrl.Param.Byte[3] = FCParam.UserParam4; |
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102 | ToNaviCtrl.Param.Byte[4] = FCParam.UserParam5; |
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103 | ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6; |
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104 | ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7; |
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105 | ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8; |
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106 | break; |
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107 | |||
108 | case SPI_CMD_STICK: |
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916 | pangu | 109 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
886 | killagreg | 110 | ToNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
111 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
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112 | ToNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
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113 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
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114 | ToNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
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916 | pangu | 115 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
886 | killagreg | 116 | ToNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
117 | ToNaviCtrl.Param.Byte[4] = (uint8_t) Poti1; |
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118 | ToNaviCtrl.Param.Byte[5] = (uint8_t) Poti2; |
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119 | ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3; |
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120 | ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4; |
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121 | ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
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916 | pangu | 122 | ToNaviCtrl.Param.Byte[9] = (uint8_t) MotorsOn; |
886 | killagreg | 123 | break; |
124 | |||
125 | case SPI_CMD_CAL_COMPASS: |
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126 | if(CompassCalState > 5) |
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127 | { |
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128 | CompassCalState = 0; |
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129 | ToNaviCtrl.Param.Byte[0] = 5; |
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130 | } |
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131 | else |
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132 | { |
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133 | ToNaviCtrl.Param.Byte[0] = CompassCalState; |
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134 | } |
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135 | break; |
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136 | } |
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137 | |||
138 | |||
139 | sei(); // enable all interrupts |
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140 | |||
141 | // analyze content of packet from NaviCtrl if valid |
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142 | if (SPI_RxDataValid) |
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143 | { |
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144 | // update gps controls |
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916 | pangu | 145 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
886 | killagreg | 146 | { |
916 | pangu | 147 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
886 | killagreg | 148 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
149 | } |
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150 | // update compass readings |
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151 | if(FromNaviCtrl.CompassHeading <= 360) |
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152 | { |
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153 | CompassHeading = FromNaviCtrl.CompassHeading; |
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154 | } |
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155 | if(CompassHeading < 0) CompassOffCourse = 0; |
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156 | else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
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157 | // NaviCtrl wants to beep? |
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158 | if (FromNaviCtrl.BeepTime > BeepTime && !CompassCalState) BeepTime = FromNaviCtrl.BeepTime; |
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159 | |||
160 | switch (FromNaviCtrl.Command) |
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161 | { |
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162 | case SPI_CMD_OSD_DATA: |
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163 | // ToFlightCtrl.Param.Byte[0] = OsdBar; |
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164 | // ToFlightCtrl.Param.Int[1] = Distance; |
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165 | break; |
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166 | |||
167 | case SPI_CMD_GPS_POS: |
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168 | // ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
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169 | // ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
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170 | break; |
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171 | |||
172 | case SPI_CMD_GPS_TARGET: |
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173 | // ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
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174 | // ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
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175 | break; |
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176 | |||
177 | default: |
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178 | break; |
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179 | } |
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180 | } |
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181 | else // no valid data from NaviCtrl |
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182 | { |
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183 | // disable GPS control |
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916 | pangu | 184 | GPS_Nick = 0; |
886 | killagreg | 185 | GPS_Roll = 0; |
186 | } |
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304 | ingob | 187 | } |
188 | |||
886 | killagreg | 189 | |
190 | |||
191 | /*********************************************/ |
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192 | /* Start Transmission of packet to NaviCtrl */ |
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193 | /*********************************************/ |
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194 | void SPI_StartTransmitPacket(void) |
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304 | ingob | 195 | { |
708 | ingob | 196 | |
886 | killagreg | 197 | if (!SPITransferCompleted) return; // return immediately if transfer is in progress |
198 | else // transmission was completed |
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199 | { |
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200 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
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691 | ingob | 201 | |
886 | killagreg | 202 | // cyclic commands |
203 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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204 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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205 | |||
206 | SPITransferCompleted = 0; // tranfer is in progress |
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207 | UpdateSPI_Buffer(); // update data in ToNaviCtrl |
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208 | |||
209 | SPI_TxBufferIndex = 1; //proceed with 2nd byte |
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210 | |||
211 | // -- Debug-Output --- |
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212 | //---- |
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213 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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214 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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215 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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216 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; // init checksum |
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217 | SPDR = ToNaviCtrl.Sync1; // send first byte |
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218 | } |
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304 | ingob | 219 | } |
220 | |||
886 | killagreg | 221 | //------------------------------------------------------ |
222 | // This is the spi data transfer between FlightCtrl and NaviCtrl |
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223 | // Every time this routine is called within the mainloop one byte of the packet to |
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224 | // the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
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691 | ingob | 225 | |
886 | killagreg | 226 | void SPI_TransmitByte(void) |
304 | ingob | 227 | { |
886 | killagreg | 228 | static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
229 | uint8_t rxdata; |
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230 | static uint8_t rxchksum; |
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823 | ingob | 231 | |
886 | killagreg | 232 | if (SPITransferCompleted) return; // return immediatly if transfer was completed |
233 | if (!(SPSR & (1 << SPIF))) return; // return if no SPI-IRQ pending |
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234 | SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
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823 | ingob | 235 | |
886 | killagreg | 236 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
823 | ingob | 237 | |
886 | killagreg | 238 | rxdata = SPDR; // save spi data register |
823 | ingob | 239 | |
886 | killagreg | 240 | switch (SPI_RXState) |
241 | { |
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242 | case SPI_SYNC1: // first sync byte |
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243 | SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
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244 | rxchksum = rxdata; // initialize checksum |
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245 | if (rxdata == SPI_RXSYNCBYTE1 ) |
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246 | { // 1st Syncbyte found |
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247 | SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
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248 | } |
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249 | break; |
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823 | ingob | 250 | |
886 | killagreg | 251 | case SPI_SYNC2: // second sync byte |
252 | if (rxdata == SPI_RXSYNCBYTE2) |
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253 | { // 2nd Syncbyte found |
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254 | rxchksum += rxdata; // update checksum |
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255 | SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
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256 | } |
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257 | else // 2nd Syncbyte not found |
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258 | { |
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259 | SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
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260 | } |
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261 | break; |
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823 | ingob | 262 | |
886 | killagreg | 263 | case SPI_DATA: // data bytes |
264 | SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
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265 | // if all bytes are received of a packet from the NaviCtrl |
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266 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) |
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267 | { // last byte transfered is the checksum of the packet |
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268 | if (rxdata == rxchksum) // checksum matching? |
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269 | { |
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270 | // copy SPI_RxBuffer -> FromFlightCtrl |
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271 | uint8_t *ptr = (uint8_t *)&FromNaviCtrl; |
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272 | cli(); |
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273 | memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(FromNaviCtrl)); |
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274 | sei(); |
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275 | SPI_RxDataValid = 1; |
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276 | DebugOut.Analog[18]++; |
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277 | } |
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278 | else |
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279 | { // checksum does not match |
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280 | DebugOut.Analog[17]++; |
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281 | SPI_RxDataValid = 0; // reset valid flag |
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282 | } |
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283 | SPI_RXState = SPI_SYNC1; // reset state sync |
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284 | } |
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285 | else // not all bytes transfered |
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286 | { |
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287 | rxchksum += rxdata; // update checksum |
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288 | } |
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289 | break; |
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290 | }// eof switch(SPI_RXState) |
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291 | |||
292 | // if still some bytes left for transmission to NaviCtrl |
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293 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) |
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294 | { |
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295 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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296 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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297 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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298 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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299 | |||
300 | SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
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301 | ToNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
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302 | SPI_TxBufferIndex++; |
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303 | } |
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304 | else |
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305 | { |
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306 | //Transfer of all bytes of the packet to NaviCtrl completed |
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307 | SPITransferCompleted = 1; |
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308 | } |
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304 | ingob | 309 | } |
310 | |||
311 | |||
886 | killagreg | 312 | #endif //USE_SPI_COMMUNICATION |
304 | ingob | 313 | |
886 | killagreg | 314 |