Subversion Repositories FlightCtrl

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Ignore whitespace Rev 1475 → Rev 1476

/branches/V0.76g_ACC-HH_MartinR/spi.c
0,0 → 1,299
// ######################## SPI - FlightCtrl ###################
#include "main.h"
 
 
//struct str_ToNaviCtrl_Version ToNaviCtrl_Version;
//struct str_FromNaviCtrl_Version FromNaviCtrl_Version;
struct str_ToNaviCtrl ToNaviCtrl;
struct str_FromNaviCtrl FromNaviCtrl;
struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
struct str_SPI_VersionInfo SPI_VersionInfo;
 
unsigned char SPI_BufferIndex;
unsigned char SPI_RxBufferIndex;
 
volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)];
unsigned char *SPI_TX_Buffer;
 
unsigned char SPITransferCompleted, SPI_ChkSum;
unsigned char SPI_RxDataValid,NaviDataOkay = 0;
 
unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION, SPI_CMD_SERVOS };
unsigned char SPI_CommandCounter = 0;
 
#ifdef USE_SPI_COMMUNICATION
 
//------------------------------------------------------
void SPI_MasterInit(void)
{
DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input
SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
 
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
SPSR = 0;//(1<<SPI2X);
 
SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT);
SPITransferCompleted = 1;
 
//SPDR = 0x00; // dummy write
 
ToNaviCtrl.Sync1 = 0xAA;
ToNaviCtrl.Sync2 = 0x83;
 
ToNaviCtrl.Command = SPI_CMD_USER;
ToNaviCtrl.IntegralNick = 0;
ToNaviCtrl.IntegralRoll = 0;
FromNaviCtrl_Value.SerialDataOkay = 0;
SPI_RxDataValid = 0;
 
SPI_VersionInfo.Major = VERSION_MAJOR;
SPI_VersionInfo.Minor = VERSION_MINOR;
SPI_VersionInfo.Patch = VERSION_PATCH;
SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE;
}
 
//------------------------------------------------------
void SPI_StartTransmitPacket(void)
{
//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed
if (!SPITransferCompleted) return;
// _delay_us(30);
 
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
 
ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
 
SPITransferCompleted = 0;
UpdateSPI_Buffer(); // update buffer
 
SPI_BufferIndex = 1;
//ebugOut.Analog[16]++;
// -- Debug-Output ---
//----
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
SPDR = ToNaviCtrl.Sync1; // Start transmission
// SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave
 
}
 
//------------------------------------------------------
//SIGNAL(SIG_SPI)
void SPI_TransmitByte(void)
{
static unsigned char SPI_RXState = 0;
unsigned char rxdata;
static unsigned char rxchksum;
 
if (SPITransferCompleted) return;
if (!(SPSR & (1 << SPIF))) return;
SendSPI = 4;
 
// _delay_us(30);
SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave
 
rxdata = SPDR;
switch ( SPI_RXState)
{
case 0:
 
SPI_RxBufferIndex = 0;
//DebugOut.Analog[17]++;
rxchksum = rxdata;
if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok
 
break;
 
case 1:
if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok
else SPI_RXState = 0;
//DebugOut.Analog[18]++;
break;
 
case 2:
SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data
//DebugOut.Analog[19]++;
if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
{
 
if (rxdata == rxchksum)
{
unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
 
memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));
 
SPI_RxDataValid = 1;
}
else SPI_RxDataValid = 0;
 
SPI_RXState = 0;
}
else rxchksum += rxdata;
break;
 
}
 
if (SPI_BufferIndex < sizeof(ToNaviCtrl))
{
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
 
SPDR = SPI_TX_Buffer[SPI_BufferIndex];
ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
// SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave
 
}
else SPITransferCompleted = 1;
 
SPI_BufferIndex++;
}
 
 
//------------------------------------------------------
void UpdateSPI_Buffer(void)
{
signed int tmp;
ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
// ToNaviCtrl.User8 = Parameter_UserParam8;
// ToNaviCtrl.CalState = WinkelOut.CalcState;
switch(ToNaviCtrl.Command) //
{
case SPI_CMD_USER:
ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;
MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START);
ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;
ToNaviCtrl.Param.Byte[10] =(unsigned char) BattLowVoltageWarning;
ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
break;
 
case SPI_CMD_PARAMETER1:
//ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard // MartinR: so war es
ToNaviCtrl.Param.Byte[0] = Parameter_NaviGpsModeControl; // MartinR: wird wiederverwendet für GPS free bei HH
ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
break;
 
case SPI_CMD_STICK:
cli();
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
ToNaviCtrl.Param.Byte[0] = (char) tmp;
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
ToNaviCtrl.Param.Byte[1] = (char) tmp;
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
ToNaviCtrl.Param.Byte[2] = (char) tmp;
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
sei();
ToNaviCtrl.Param.Byte[3] = (char) tmp;
ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;
ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;
ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderRSSI;
ToNaviCtrl.Param.Byte[10] = DebugOut.Analog[7] / 4; //GasMischanteil
break;
case SPI_CMD_MISC:
if(WinkelOut.CalcState > 5)
{
WinkelOut.CalcState = 0;
ToNaviCtrl.Param.Byte[0] = 5;
}
else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
ToNaviCtrl.Param.Int[1] = DebugOut.Analog[5];// = HoehenWert/5;
ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
break;
 
case SPI_CMD_VERSION:
ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;
ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;
ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;
ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;
ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
break;
 
case SPI_CMD_SERVOS:
ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control
ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
break;
}
 
if(SPI_RxDataValid)
{
if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
{
GPS_Nick = FromNaviCtrl.GPS_Nick;
GPS_Roll = FromNaviCtrl.GPS_Roll;
NaviDataOkay = 250;
}
if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
 
if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
 
switch (FromNaviCtrl.Command)
{
case SPI_KALMAN:
FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
break;
 
default:
break;
}
}
else
{
// KompassValue = 0;
// KompassRichtung = 0;
GPS_Nick = 0;
GPS_Roll = 0;
}
}
 
#endif