WebSVN - FlightCtrl - Blame - Rev 2035 - /branches/dongfang_FC

Rev	Author	Line No.	Line
1612	dongfang	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		2	// + Copyright (c) 04.2007 Holger Buss
2035	-	3	// + Nur f�r den privaten Gebrauch
1612	dongfang	4	// + www.MikroKopter.com
		5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2035	-	6	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
		7	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
1612	dongfang	8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
		9	// + bzgl. der Nutzungsbedingungen aufzunehmen.
2035	-	10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
1612	dongfang	11	// + Verkauf von Luftbildaufnahmen, usw.
		12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2035	-	13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
		14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
1612	dongfang	15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
2035	-	17	// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
1612	dongfang	18	// + eindeutig als Ursprung verlinkt werden
		19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2035	-	20	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
1612	dongfang	21	// + Benutzung auf eigene Gefahr
2035	-	22	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
1612	dongfang	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
2035	-	25	// + mit unserer Zustimmung zul�ssig
1612	dongfang	26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
		28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
		30	// + this list of conditions and the following disclaimer.
		31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
		32	// + from this software without specific prior written permission.
		33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
		34	// + for non-commercial use (directly or indirectly)
1868	-	35	// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1612	dongfang	36	// + with our written permission
		37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
		38	// + clearly linked as origin
		39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
		40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
		41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
		42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
		43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
		44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
		45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
		46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
		47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
		48	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
		49	// + POSSIBILITY OF SUCH DAMAGE.
		50	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		51	#include <avr/io.h>
		52	#include <avr/interrupt.h>
		53	#include <string.h>
		54	#include <stdlib.h>
		55	#include "spi.h"
		56	#include "rc.h"
		57	#include "eeprom.h"
		58	#include "uart0.h"
		59	#include "timer0.h"
		60	#include "analog.h"
		61	#include "attitude.h"
1645	-	62	#include "GPSControl.h"
1612	dongfang	63	#include "flight.h"
		64
		65	//-----------------------------------------
		66
		67	// for compatibility reasons gcc3.x <-> gcc4.x
2035	-	68	// dongfang: Lets try to abandon GCC3.
		69	/*
1612	dongfang	70	#ifndef SPCR
		71	#define SPCR SPCR0
		72	#endif
		73	#ifndef SPIE
		74	#define SPIE SPIE0
		75	#endif
		76	#ifndef SPE
		77	#define SPE SPE0
		78	#endif
		79	#ifndef DORD
		80	#define DORD DORD0
		81	#endif
		82	#ifndef MSTR
		83	#define MSTR MSTR0
		84	#endif
		85	#ifndef CPOL
		86	#define CPOL CPOL0
		87	#endif
		88	#ifndef CPHA
		89	#define CPHA CPHA0
		90	#endif
		91	#ifndef SPR1
		92	#define SPR1 SPR01
		93	#endif
		94	#ifndef SPR0
		95	#define SPR0 SPR00
		96	#endif
		97
		98	#ifndef SPDR
		99	#define SPDR SPDR0
		100	#endif
		101
		102	#ifndef SPSR
		103	#define SPSR SPSR0
		104	#endif
		105	#ifndef SPIF
		106	#define SPIF SPIF0
		107	#endif
		108	#ifndef WCOL
		109	#define WCOL WCOL0
		110	#endif
1775	-	111	#ifndef SPI2X
1612	dongfang	112	#define SPI2X SPI2X0
1775	-	113	#endif
2035	-	114	*/
1612	dongfang	115	// -------------------------
2035	-	116	#define DDR_SPI DDRB
		117	#define DD_SS PB4
		118	#define DD_SCK PB7
		119	#define DD_MOSI PB5
		120	#define DD_MISO PB6
1612	dongfang	121
		122	#define SLAVE_SELECT_DDR_PORT DDRC
		123	#define SLAVE_SELECT_PORT PORTC
		124	#define SPI_SLAVE_SELECT PC5
		125
		126	#define SPI_TXSYNCBYTE1 0xAA
		127	#define SPI_TXSYNCBYTE2 0x83
		128	#define SPI_RXSYNCBYTE1 0x81
		129	#define SPI_RXSYNCBYTE2 0x55
		130
1775	-	131	typedef enum {
1821	-	132	SPI_SYNC1, SPI_SYNC2, SPI_DATA
1775	-	133	} SPI_RXState_t;
1612	dongfang	134
		135	// data exchange packets to and From NaviCtrl
1821	-	136	ToNaviCtrl_t toNaviCtrl;
		137	FromNaviCtrl_t fromNaviCtrl;
		138	SPI_VersionInfo_t SPI_VersionInfo;
1612	dongfang	139
		140	// rx packet buffer
1775	-	141	#define SPI_RXBUFFER_LEN sizeof(fromNaviCtrl)
1612	dongfang	142	uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN];
1821	-	143	uint8_t SPI_RxBufferIndex = 0;
1612	dongfang	144	uint8_t SPI_RxBuffer_Request = 0;
		145
		146	// tx packet buffer
1775	-	147	#define SPI_TXBUFFER_LEN sizeof(toNaviCtrl)
1612	dongfang	148	uint8_t *SPI_TxBuffer;
1821	-	149	uint8_t SPI_TxBufferIndex = 0;
1612	dongfang	150
		151	uint8_t SPITransferCompleted, SPI_ChkSum;
		152	uint8_t SPI_RxDataValid = 0;
		153	uint8_t NCDataOkay = 0;
		154	uint8_t NCSerialDataOkay = 0;
		155
1821	-	156	uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK,
		157	SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION };
1612	dongfang	158	uint8_t SPI_CommandCounter = 0;
		159
		160	/*********************************************/
		161	/* Initialize SPI interface to NaviCtrl */
		162	/*********************************************/
		163	void SPI_MasterInit(void) {
1821	-	164	DDR_SPI \|= (1 << DD_MOSI) \| (1 << DD_SCK); // Set MOSI and SCK output, all others input
		165	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port
		166
		167	SPCR = (1 << SPE) \| (1 << MSTR) \| (1 << SPR1) \| (0 << SPR0) \| (0 << SPIE); // Enable SPI, Master, set clock rate fck/64
		168	SPSR = 0;//(1<<SPI2X);
		169
		170	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // Deselect Slave
		171
		172	SPI_TxBuffer = (uint8_t *) &toNaviCtrl; // set pointer to tx-buffer
		173	SPITransferCompleted = 1;
		174	// initialize data packet to NaviControl
2035	-	175	toNaviCtrl.sync1 = SPI_TXSYNCBYTE1;
		176	toNaviCtrl.sync2 = SPI_TXSYNCBYTE2;
1821	-	177
2035	-	178	toNaviCtrl.command = SPI_CMD_USER;
		179	toNaviCtrl.integralPitch = 0;
		180	toNaviCtrl.integralRoll = 0;
		181	naviCtrlData.serialDataOkay = 0;
		182	//NCSerialDataOkay = 0;
		183	//NCDataOkay = 0;
1821	-	184
		185	SPI_RxDataValid = 0;
		186
2035	-	187	//SPI_VersionInfo.Major = VERSION_MAJOR;
		188	//SPI_VersionInfo.Minor = VERSION_MINOR;
		189	//SPI_VersionInfo.Patch = VERSION_PATCH;
		190	//SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE;
1612	dongfang	191	}
		192
		193	/**********************************************************/
2035	-	194	/* Update Data transfered by the SPI from/to NaviCtrl */
1612	dongfang	195	/**********************************************************/
2035	-	196	void updateSPI_Buffer(void) {
1821	-	197	uint8_t i;
		198	int16_t tmp;
		199	cli();
		200	// stop all interrupts to avoid writing of new data during update of that packet.
1775	-	201
1821	-	202	// update content of packet to NaviCtrl
2035	-	203	// Scaling?
		204	toNaviCtrl.integralPitch = (angle[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1�
		205	// Scaling?
		206	toNaviCtrl.integralRoll = (angle[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1�
		207	// Scaling?
		208	toNaviCtrl.gyroHeading = (yawGyroHeading / (GYRO_DEG_FACTOR_YAW / 10)); // convert to multiple of 0.1�
		209	// Scaling?
		210	toNaviCtrl.gyroPitch = rate_ATT[PITCH];
		211	// Scaling?
		212	toNaviCtrl.gyroRoll = rate_ATT[ROLL];
		213	// Scaling?
		214	toNaviCtrl.gyroYaw = yawRate;
		215	// Scaling?
		216	toNaviCtrl.accPitch = getAngleEstimateFromAcc(PITCH) / (GYRO_DEG_FACTOR_PITCHROLL/10); // convert to multiple of 0.1�
		217	// Scaling?
		218	toNaviCtrl.AccRoll = getAngleEstimateFromAcc(ROLL) / (GYRO_DEG_FACTOR_PITCHROLL/10);
1612	dongfang	219
1821	-	220	// TODO: What are these little bastards?
		221
		222	averageAcc[PITCH] = averageAcc[ROLL] = averageAccCount = 0;
		223
2035	-	224	switch (toNaviCtrl.command) {
1821	-	225	case SPI_CMD_USER:
2035	-	226	for (i = 0; i < sizeof(dynamicParams.userParams); i++) {
		227	toNaviCtrl.param.asByte[i] = dynamicParams.userParams[i];
1821	-	228	}
		229	toNaviCtrl.Param.Byte[8] = MKFlags;
		230	MKFlags &= ~(MKFLAG_CALIBRATE \| MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting
2035	-	231	toNaviCtrl.Param.Byte[9] = getActiveParamSet();
		232	toNaviCtrl.Param.Byte[10] = 10; //EE_Parameter.ComingHomeAltitude;
		233	toNaviCtrl.Param.Byte[11] = 0; //FC_StatusFlags2;
1821	-	234	break;
		235
		236	case SPI_CMD_PARAMETER1:
		237	toNaviCtrl.Param.Byte[0] = staticParams.NaviGpsModeControl; // Parameters for the Naviboard
		238	toNaviCtrl.Param.Byte[1] = staticParams.NaviGpsGain;
		239	toNaviCtrl.Param.Byte[2] = staticParams.NaviGpsP;
		240	toNaviCtrl.Param.Byte[3] = staticParams.NaviGpsI;
		241	toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsD;
		242	toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsACC;
		243	toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsMinSat;
		244	toNaviCtrl.Param.Byte[7] = staticParams.NaviStickThreshold;
		245	toNaviCtrl.Param.Byte[8] = staticParams.NaviOperatingRadius;
		246	toNaviCtrl.Param.Byte[9] = staticParams.NaviWindCorrection;
		247	toNaviCtrl.Param.Byte[10] = staticParams.NaviSpeedCompensation;
		248	toNaviCtrl.Param.Byte[11] = staticParams.NaviAngleLimitation;
		249	break;
		250
		251	case SPI_CMD_STICK:
		252	tmp = PPM_in[staticParams.ChannelAssignment[CH_THROTTLE]];
		253	if (tmp > 127)
		254	tmp = 127;
		255	else if (tmp < -128)
		256	tmp = -128;
		257	toNaviCtrl.Param.Byte[0] = (int8_t) tmp;
		258	tmp = PPM_in[staticParams.ChannelAssignment[CH_YAW]];
		259	if (tmp > 127)
		260	tmp = 127;
		261	else if (tmp < -128)
		262	tmp = -128;
		263	toNaviCtrl.Param.Byte[1] = (int8_t) tmp;
		264	tmp = PPM_in[staticParams.ChannelAssignment[CH_ROLL]];
		265	if (tmp > 127)
		266	tmp = 127;
		267	else if (tmp < -128)
		268	tmp = -128;
		269	toNaviCtrl.Param.Byte[2] = (int8_t) tmp;
		270	tmp = PPM_in[staticParams.ChannelAssignment[CH_PITCH]];
		271	if (tmp > 127)
		272	tmp = 127;
		273	else if (tmp < -128)
		274	tmp = -128;
		275	toNaviCtrl.Param.Byte[3] = (int8_t) tmp;
		276	toNaviCtrl.Param.Byte[4] = (uint8_t) variables[0];
		277	toNaviCtrl.Param.Byte[5] = (uint8_t) variables[1];
		278	toNaviCtrl.Param.Byte[6] = (uint8_t) variables[2];
		279	toNaviCtrl.Param.Byte[7] = (uint8_t) variables[3];
		280	toNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality;
		281	break;
		282
		283	case SPI_CMD_MISC:
		284	toNaviCtrl.Param.Byte[0] = compassCalState;
		285	if (compassCalState > 4) { // jump from 5 to 0
		286	compassCalState = 0;
		287	}
		288	toNaviCtrl.Param.Byte[1] = staticParams.NaviPHLoginTime;
		289	// TODO: Height and in the correct scaling...
		290	toNaviCtrl.Param.Int[1] = 0; //readingHeight; // at address of Byte 2 and 3
		291	toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsPLimit;
		292	toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsILimit;
		293	toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsDLimit;
		294	break;
		295
		296	case SPI_CMD_VERSION:
		297	toNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;
		298	toNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;
		299	toNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;
		300	toNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;
		301	toNaviCtrl.Param.Byte[4] = BoardRelease;
		302	break;
		303	default:
		304	break;
		305	}
		306
		307	sei();
		308	// enable all interrupts
		309
		310	// analyze content of packet from NaviCtrl if valid
		311	if (SPI_RxDataValid) {
		312	// update gps controls
		313	if (abs(fromNaviCtrl.GPSStickPitch) < 512 && abs(fromNaviCtrl.GPSStickRoll)
		314	< 512 && (staticParams.GlobalConfig & CFG_GPS_ACTIVE)) {
		315	GPSStickPitch = fromNaviCtrl.GPSStickPitch;
		316	GPSStickRoll = fromNaviCtrl.GPSStickRoll;
		317	NCDataOkay = 250;
		318	}
		319	// update compass readings
		320	if (fromNaviCtrl.CompassHeading <= 360) {
		321	compassHeading = fromNaviCtrl.CompassHeading;
		322	}
		323	//if(compassHeading < 0) compassOffCourse = 0;
		324	//else compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;
		325	// NaviCtrl wants to beep?
		326	if (fromNaviCtrl.BeepTime > BeepTime && !compassCalState)
		327	BeepTime = fromNaviCtrl.BeepTime;
		328
		329	switch (fromNaviCtrl.Command) {
		330	case SPI_KALMAN:
		331	dynamicParams.KalmanK = fromNaviCtrl.Param.Byte[0];
		332	dynamicParams.KalmanMaxFusion = fromNaviCtrl.Param.Byte[1];
		333	dynamicParams.KalmanMaxDrift = fromNaviCtrl.Param.Byte[2];
		334	NCSerialDataOkay = fromNaviCtrl.Param.Byte[3];
		335	break;
		336
		337	default:
		338	break;
		339	}
		340	} else { // no valid data from NaviCtrl
		341	// disable GPS control
		342	GPSStickPitch = 0;
		343	GPSStickRoll = 0;
		344	}
1612	dongfang	345	}
		346
		347	/*********************************************/
		348	/* Start Transmission of packet to NaviCtrl */
		349	/*********************************************/
1821	-	350	void SPI_StartTransmitPacket(void) {
		351	if (!SPITransferCompleted)
		352	return; // return immediately if transfer is in progress
		353	else // transmission was completed
		354	{
		355	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave
		356
		357	// cyclic commands
		358	toNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
		359	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence))
		360	SPI_CommandCounter = 0;
		361
		362	SPITransferCompleted = 0; // transfer is in progress
		363	UpdateSPI_Buffer(); // update data in toNaviCtrl
		364
		365	SPI_TxBufferIndex = 1; //proceed with 2nd byte
		366
		367	// -- Debug-Output ---
		368	//----
		369	asm volatile ("nop");
		370	asm volatile ("nop");
		371	asm volatile ("nop");
		372	asm volatile ("nop");
		373	asm volatile ("nop");
		374	asm volatile ("nop");
		375	asm volatile ("nop");
		376	asm volatile ("nop");
		377	asm volatile ("nop");
		378	asm volatile ("nop");
		379	asm volatile ("nop");
		380	asm volatile ("nop");
		381	asm volatile ("nop");
		382	asm volatile ("nop");
		383	asm volatile ("nop");
		384	asm volatile ("nop");
		385	asm volatile ("nop");
		386	asm volatile ("nop");
		387	asm volatile ("nop");
		388	asm volatile ("nop");
		389	asm volatile ("nop");
		390	asm volatile ("nop");
		391	asm volatile ("nop");
		392	asm volatile ("nop");
		393	toNaviCtrl.Chksum = toNaviCtrl.Sync1; // init checksum
		394	SPDR = toNaviCtrl.Sync1; // send first byte
		395	}
1612	dongfang	396	}
		397
		398	//------------------------------------------------------
		399	// This is the spi data transfer between FlightCtrl and NaviCtrl
		400	// Every time this routine is called within the mainloop one byte of the packet to
		401	// the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered
		402
		403	void SPI_TransmitByte(void) {
1821	-	404	static SPI_RXState_t SPI_RXState = SPI_SYNC1;
		405	uint8_t rxdata;
		406	static uint8_t rxchksum;
		407
		408	if (SPITransferCompleted)
		409	return; // return immediatly if transfer was completed
		410	if (!(SPSR & (1 << SPIF)))
		411	return; // return if no SPI-IRQ pending
		412	SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop
		413
		414	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		415
		416	rxdata = SPDR; // save spi data register
		417
		418	switch (SPI_RXState) {
		419	case SPI_SYNC1: // first sync byte
		420	SPI_RxBufferIndex = 0; // set pointer to start of rx buffer
		421	rxchksum = rxdata; // initialize checksum
		422	if (rxdata == SPI_RXSYNCBYTE1) { // 1st Syncbyte found
		423	SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte
		424	}
		425	break;
		426
		427	case SPI_SYNC2: // second sync byte
		428	if (rxdata == SPI_RXSYNCBYTE2) { // 2nd Syncbyte found
		429	rxchksum += rxdata; // update checksum
		430	SPI_RXState = SPI_DATA; // trigger to state for second sync byte
		431	} else // 2nd Syncbyte not found
		432	{
		433	SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte
		434	}
		435	break;
		436
		437	case SPI_DATA: // data bytes
		438	SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer
		439	// if all bytes are received of a packet from the NaviCtrl
		440	if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) { // last byte transfered is the checksum of the packet
		441	if (rxdata == rxchksum) { // checksum matching?
		442	// copy SPI_RxBuffer -> FromFlightCtrl
		443	uint8_t ptr = (uint8_t ) &fromNaviCtrl;
		444	cli();
		445	memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(fromNaviCtrl));
		446	sei();
		447	SPI_RxDataValid = 1;
		448	} else { // checksum does not match
		449	SPI_RxDataValid = 0; // reset valid flag
		450	}
		451	SPI_RXState = SPI_SYNC1; // reset state sync
		452	} else { // not all bytes transfered
		453	rxchksum += rxdata; // update checksum
		454	}
		455	break;
		456	}// eof switch(SPI_RXState)
		457
		458	// if still some bytes left for transmission to NaviCtrl
		459	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) {
		460	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
		461	asm volatile ("nop");
		462	asm volatile ("nop");
		463	asm volatile ("nop");
		464	asm volatile ("nop");
		465	asm volatile ("nop");
		466	asm volatile ("nop");
		467	asm volatile ("nop");
		468	asm volatile ("nop");
		469	asm volatile ("nop");
		470	asm volatile ("nop");
		471	asm volatile ("nop");
		472	asm volatile ("nop");
		473	asm volatile ("nop");
		474	asm volatile ("nop");
		475	asm volatile ("nop");
		476	asm volatile ("nop");
		477	asm volatile ("nop");
		478	asm volatile ("nop");
		479	asm volatile ("nop");
		480	asm volatile ("nop");
		481	asm volatile ("nop");
		482	asm volatile ("nop");
		483	asm volatile ("nop");
		484	asm volatile ("nop");
		485
		486	SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte
		487	toNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent
		488	SPI_TxBufferIndex++;
		489	} else {
		490	//Transfer of all bytes of the packet to NaviCtrl completed
		491	SPITransferCompleted = 1;
		492	}
1612	dongfang	493	}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/spi.c - Rev 2035