WebSVN - FlightCtrl - Blame - Rev 990 - /branches/V0.70_safer_engine

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

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(root)/branches/V0.70_safer_engine_stop/spi.c - Rev 990