Subversion Repositories FlightCtrl

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1754 - 1
// ######################## SPI - FlightCtrl ###################
2
#include "main.h"
3
#include "eeprom.h"
4
 
5
 
6
//struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
7
//struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
8
struct str_ToNaviCtrl   ToNaviCtrl;
9
struct str_FromNaviCtrl   FromNaviCtrl;
10
struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
11
struct str_SPI_VersionInfo NC_Version;
12
struct str_GPSInfo GPSInfo;
13
 
14
unsigned char              SPI_BufferIndex;
15
unsigned char              SPI_RxBufferIndex;
16
signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0;
17
 
18
volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
19
unsigned char *SPI_TX_Buffer;
20
 
21
unsigned char SPITransferCompleted, SPI_ChkSum;
22
unsigned char SPI_RxDataValid,NaviDataOkay = 250;
23
 
24
unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU};
25
unsigned char SPI_CommandCounter = 0;
26
unsigned char NC_ErrorCode = 0;
27
 
28
#ifdef USE_SPI_COMMUNICATION
29
 
30
//------------------------------------------------------
31
void SPI_MasterInit(void)
32
{
33
  DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK);    // Set MOSI and SCK output, all others input
34
  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
35
 
36
  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64
37
  SPSR = 0;//(1<<SPI2X);
38
 
39
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
40
  SPITransferCompleted = 1;
41
 
42
  //SPDR = 0x00;  // dummy write
43
 
44
  ToNaviCtrl.Sync1 = 0xAA;
45
  ToNaviCtrl.Sync2 = 0x83;
46
 
47
  ToNaviCtrl.Command = SPI_FCCMD_USER;
48
  ToNaviCtrl.IntegralNick = 0;
49
  ToNaviCtrl.IntegralRoll = 0;
50
  FromNaviCtrl_Value.SerialDataOkay = 0;
51
  SPI_RxDataValid = 0;
52
 
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
                        rxchksum = rxdata;
106
                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok
107
 
108
           break;
109
 
110
   case 1:
111
                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok
112
                 else SPI_RXState  = 0;
113
           break;
114
 
115
   case 2:
116
                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
117
           //DebugOut.Analog[19]++;
118
           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
119
                   {
120
 
121
                if (rxdata == rxchksum)
122
                        {
123
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
124
 
125
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
126
 
127
                          SPI_RxDataValid = 1;
128
                        }
129
                        else SPI_RxDataValid = 0;
130
 
131
                        SPI_RXState  = 0;
132
                   }
133
                  else rxchksum += rxdata;
134
        break;
135
 
136
  }
137
 
138
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))
139
     {
140
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
141
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
142
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
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
 
145
           SPDR = SPI_TX_Buffer[SPI_BufferIndex];
146
           ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
147
        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
148
 
149
         }
150
         else SPITransferCompleted = 1;
151
 
152
         SPI_BufferIndex++;
153
}
154
 
155
 
156
//------------------------------------------------------
157
void UpdateSPI_Buffer(void)
158
{
159
  signed int tmp;
160
  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
161
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
162
  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
163
  ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
164
  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
165
  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
166
  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
167
//  ToNaviCtrl.User8 = Parameter_UserParam8;
168
//  ToNaviCtrl.CalState = WinkelOut.CalcState;
169
   switch(ToNaviCtrl.Command)  //
170
   {
171
         case SPI_FCCMD_USER:
172
                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
173
                                ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
174
                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
175
                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
176
                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
177
                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
178
                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
179
                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
180
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) FCFlags;
181
                FCFlags &= ~(FCFLAG_CALIBRATE | FCFLAG_START);
182
                    ToNaviCtrl.Param.Byte[9] = GetActiveParamSet();
183
                                ToNaviCtrl.Param.Byte[10] = ControlHeading;
184
        break;
185
 
186
     case SPI_FCCMD_ACCU:
187
                        ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
188
                        ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
189
                        ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
190
                        ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V
191
        break;
192
 
193
         case SPI_FCCMD_PARAMETER1:
194
                                ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard
195
                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
196
                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
197
                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
198
                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
199
                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
200
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
201
                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
202
                ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
203
                ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
204
                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
205
                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
206
            break;
207
 
208
         case SPI_FCCMD_STICK:
209
              cli();
210
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
211
                                ToNaviCtrl.Param.Byte[0] = (char) tmp;
212
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
213
                                ToNaviCtrl.Param.Byte[1] = (char) tmp;
214
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
215
                                ToNaviCtrl.Param.Byte[2] = (char) tmp;
216
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
217
              sei();
218
                                ToNaviCtrl.Param.Byte[3] = (char) tmp;
219
                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
220
                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
221
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
222
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
223
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
224
                                ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
225
                                ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
226
                                ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
227
                        break;
228
                case SPI_FCCMD_MISC:
229
                        if(WinkelOut.CalcState > 5)
230
                        {
231
                                WinkelOut.CalcState = 0;
232
                                ToNaviCtrl.Param.Byte[0] = 5;
233
                        }
234
                        else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
235
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
236
                        ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5);
237
                        ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
238
                        ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
239
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
240
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
241
            ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
242
            ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0];
243
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
244
                        break;
245
                case SPI_FCCMD_VERSION:
246
                        ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
247
                        ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
248
                        ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
249
                        ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
250
                        ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
251
                        ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0];
252
                        ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1];
253
                        ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2];
254
                break;
255
            case SPI_FCCMD_SERVOS:
256
                ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh;     // Parameters for the Servo Control
257
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
258
                        ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
259
                        ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
260
                        ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
261
                        ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
262
                        ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
263
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
264
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
265
                        ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
266
                break;
267
        }
268
 
269
  if(SPI_RxDataValid)
270
  {
271
   NaviDataOkay = 250;
272
   if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
273
   {
274
    GPS_Nick = FromNaviCtrl.GPS_Nick;
275
    GPS_Roll = FromNaviCtrl.GPS_Roll;
276
   }
277
 
278
        if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
279
    KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
280
 
281
    if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
282
 
283
          switch (FromNaviCtrl.Command)
284
          {
285
            case SPI_NCCMD_KALMAN:
286
                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
287
                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
288
                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
289
                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
290
                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
291
                        FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
292
                        FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
293
                        break;
294
 
295
                case SPI_NCCMD_VERSION:
296
                        NC_Version.Major = FromNaviCtrl.Param.Byte[0];
297
                        NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
298
                        NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
299
                        NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
300
                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
301
                        DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5];
302
                        NC_ErrorCode = FromNaviCtrl.Param.Byte[6];
303
                        DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08));
304
                        break;
305
 
306
                case SPI_NCCMD_GPSINFO:
307
                        GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
308
                        GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
309
                        GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
310
                        GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
311
                        GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
312
                        GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
313
                        break;
314
 
315
                default:
316
                        break;
317
          }
318
  }
319
  else
320
  {
321
//    KompassValue = 0;
322
//    KompassRichtung = 0;
323
        GPS_Nick = 0;
324
    GPS_Roll = 0;
325
  }
326
}
327
 
328
#endif
329
 
330