Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1300 | acid | 1 | // ######################## SPI - FlightCtrl ################### |
2 | #include "main.h" |
||
3 | |||
4 | |||
5 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
||
6 | //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
||
7 | struct str_ToNaviCtrl ToNaviCtrl; |
||
8 | struct str_FromNaviCtrl FromNaviCtrl; |
||
9 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
||
10 | struct str_SPI_VersionInfo SPI_VersionInfo; |
||
11 | |||
12 | unsigned char SPI_BufferIndex; |
||
13 | unsigned char SPI_RxBufferIndex; |
||
14 | |||
15 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
||
16 | unsigned char *SPI_TX_Buffer; |
||
17 | |||
18 | unsigned char SPITransferCompleted, SPI_ChkSum; |
||
19 | unsigned char SPI_RxDataValid,NaviDataOkay = 0; |
||
20 | |||
21 | unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
||
22 | unsigned char SPI_CommandCounter = 0; |
||
23 | |||
24 | #ifdef USE_SPI_COMMUNICATION |
||
25 | |||
26 | //------------------------------------------------------ |
||
27 | void SPI_MasterInit(void) |
||
28 | { |
||
29 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
||
30 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
||
31 | |||
32 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
||
33 | SPSR = 0;//(1<<SPI2X); |
||
34 | |||
35 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
||
36 | SPITransferCompleted = 1; |
||
37 | |||
38 | //SPDR = 0x00; // dummy write |
||
39 | |||
40 | ToNaviCtrl.Sync1 = 0xAA; |
||
41 | ToNaviCtrl.Sync2 = 0x83; |
||
42 | |||
43 | ToNaviCtrl.Command = SPI_CMD_USER; |
||
44 | ToNaviCtrl.IntegralNick = 0; |
||
45 | ToNaviCtrl.IntegralRoll = 0; |
||
46 | FromNaviCtrl_Value.SerialDataOkay = 0; |
||
47 | SPI_RxDataValid = 0; |
||
48 | |||
49 | SPI_VersionInfo.Major = VERSION_MAJOR; |
||
50 | SPI_VersionInfo.Minor = VERSION_MINOR; |
||
51 | SPI_VersionInfo.Patch = VERSION_PATCH; |
||
52 | SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
||
53 | } |
||
54 | |||
55 | //------------------------------------------------------ |
||
56 | void SPI_StartTransmitPacket(void) |
||
57 | { |
||
58 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
||
59 | if (!SPITransferCompleted) return; |
||
60 | // _delay_us(30); |
||
61 | |||
62 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
||
63 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
||
64 | |||
65 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
||
66 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
||
67 | |||
68 | SPITransferCompleted = 0; |
||
69 | UpdateSPI_Buffer(); // update buffer |
||
70 | |||
71 | SPI_BufferIndex = 1; |
||
72 | //ebugOut.Analog[16]++; |
||
73 | // -- Debug-Output --- |
||
74 | //---- |
||
75 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
||
76 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
||
77 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
||
78 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
||
79 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
||
80 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
||
81 | |||
82 | } |
||
83 | |||
84 | //------------------------------------------------------ |
||
85 | //SIGNAL(SIG_SPI) |
||
86 | void SPI_TransmitByte(void) |
||
87 | { |
||
88 | static unsigned char SPI_RXState = 0; |
||
89 | unsigned char rxdata; |
||
90 | static unsigned char rxchksum; |
||
91 | |||
92 | if (SPITransferCompleted) return; |
||
93 | if (!(SPSR & (1 << SPIF))) return; |
||
94 | SendSPI = 4; |
||
95 | |||
96 | // _delay_us(30); |
||
97 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
||
98 | |||
99 | rxdata = SPDR; |
||
100 | switch ( SPI_RXState) |
||
101 | { |
||
102 | case 0: |
||
103 | |||
104 | SPI_RxBufferIndex = 0; |
||
105 | //DebugOut.Analog[17]++; |
||
106 | rxchksum = rxdata; |
||
107 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
||
108 | |||
109 | break; |
||
110 | |||
111 | case 1: |
||
112 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
||
113 | else SPI_RXState = 0; |
||
114 | //DebugOut.Analog[18]++; |
||
115 | break; |
||
116 | |||
117 | case 2: |
||
118 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
||
119 | //DebugOut.Analog[19]++; |
||
120 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
||
121 | { |
||
122 | |||
123 | if (rxdata == rxchksum) |
||
124 | { |
||
125 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
||
126 | |||
127 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
||
128 | |||
129 | SPI_RxDataValid = 1; |
||
130 | } |
||
131 | else SPI_RxDataValid = 0; |
||
132 | |||
133 | SPI_RXState = 0; |
||
134 | } |
||
135 | else rxchksum += rxdata; |
||
136 | break; |
||
137 | |||
138 | } |
||
139 | |||
140 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
||
141 | { |
||
142 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
||
143 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
||
144 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
||
145 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
||
146 | |||
147 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
||
148 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
||
149 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
||
150 | |||
151 | } |
||
152 | else SPITransferCompleted = 1; |
||
153 | |||
154 | SPI_BufferIndex++; |
||
155 | } |
||
156 | |||
157 | |||
158 | //------------------------------------------------------ |
||
159 | void UpdateSPI_Buffer(void) |
||
160 | { |
||
161 | signed int tmp; |
||
162 | cli(); |
||
163 | |||
164 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
||
165 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
||
166 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
||
167 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
||
168 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
||
169 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
||
170 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
||
171 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
||
172 | |||
173 | switch(ToNaviCtrl.Command) // |
||
174 | { |
||
175 | case SPI_CMD_USER: |
||
176 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
||
177 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
||
178 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
||
179 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
||
180 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
||
181 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
||
182 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
||
183 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
||
184 | ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags; |
||
185 | MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START); |
||
186 | ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat; |
||
187 | ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung; |
||
188 | ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
||
189 | break; |
||
190 | case SPI_CMD_PARAMETER1: |
||
191 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
||
192 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
||
193 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
||
194 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
||
195 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
||
196 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
||
197 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
||
198 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
||
199 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
||
200 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
||
201 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
||
202 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
||
203 | break; |
||
204 | case SPI_CMD_STICK: |
||
205 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
||
206 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
||
207 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
||
208 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
||
209 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
||
210 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
||
211 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
||
212 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
||
213 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1; |
||
214 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2; |
||
215 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3; |
||
216 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4; |
||
217 | ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay; |
||
218 | break; |
||
219 | case SPI_CMD_MISC: |
||
220 | if(WinkelOut.CalcState > 5) |
||
221 | { |
||
222 | WinkelOut.CalcState = 0; |
||
223 | ToNaviCtrl.Param.Byte[0] = 5; |
||
224 | } |
||
225 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
||
226 | ToNaviCtrl.Param.Int[1] = HoehenWert; |
||
227 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
||
228 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsPLimit; |
||
229 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsILimit; |
||
230 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsDLimit; |
||
231 | break; |
||
232 | |||
233 | case SPI_CMD_VERSION: |
||
234 | ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
||
235 | ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
||
236 | ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
||
237 | ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
||
238 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
||
239 | break; |
||
240 | } |
||
241 | |||
242 | sei(); |
||
243 | |||
244 | if(SPI_RxDataValid) |
||
245 | { |
||
246 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
||
247 | { |
||
248 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
||
249 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
||
250 | NaviDataOkay = 250; |
||
251 | } |
||
252 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
||
253 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
||
254 | |||
255 | if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
||
256 | |||
257 | switch (FromNaviCtrl.Command) |
||
258 | { |
||
259 | case SPI_KALMAN: |
||
260 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0]; |
||
261 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1]; |
||
262 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2]; |
||
263 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
||
264 | break; |
||
265 | |||
266 | default: |
||
267 | break; |
||
268 | } |
||
269 | } |
||
270 | else |
||
271 | { |
||
272 | // KompassValue = 0; |
||
273 | // KompassRichtung = 0; |
||
274 | GPS_Nick = 0; |
||
275 | GPS_Roll = 0; |
||
276 | } |
||
277 | } |
||
278 | |||
279 | #endif |
||
280 | |||
281 |