| 0,0 → 1,476 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <string.h> |
| #include <stdlib.h> |
| #include "main.h" |
| #include "spi.h" |
| #include "fc.h" |
| #include "rc.h" |
| #include "eeprom.h" |
| #include "uart0.h" |
| #include "timer0.h" |
| #include "analog.h" |
| |
| |
| //----------------------------------------- |
| #define DDR_SPI DDRB |
| #define DD_SS PB4 |
| #define DD_SCK PB7 |
| #define DD_MOSI PB5 |
| #define DD_MISO PB6 |
| |
| // for compatibility reasons gcc3.x <-> gcc4.x |
| #ifndef SPCR |
| #define SPCR SPCR0 |
| #endif |
| #ifndef SPIE |
| #define SPIE SPIE0 |
| #endif |
| #ifndef SPE |
| #define SPE SPE0 |
| #endif |
| #ifndef DORD |
| #define DORD DORD0 |
| #endif |
| #ifndef MSTR |
| #define MSTR MSTR0 |
| #endif |
| #ifndef CPOL |
| #define CPOL CPOL0 |
| #endif |
| #ifndef CPHA |
| #define CPHA CPHA0 |
| #endif |
| #ifndef SPR1 |
| #define SPR1 SPR01 |
| #endif |
| #ifndef SPR0 |
| #define SPR0 SPR00 |
| #endif |
| |
| #ifndef SPDR |
| #define SPDR SPDR0 |
| #endif |
| |
| #ifndef SPSR |
| #define SPSR SPSR0 |
| #endif |
| #ifndef SPIF |
| #define SPIF SPIF0 |
| #endif |
| #ifndef WCOL |
| #define WCOL WCOL0 |
| #endif |
| #ifndef SPI2X |
| #define SPI2X SPI2X0 |
| #endif |
| // ------------------------- |
| |
| #define SLAVE_SELECT_DDR_PORT DDRC |
| #define SLAVE_SELECT_PORT PORTC |
| #define SPI_SLAVE_SELECT PC5 |
| |
| |
| #define SPI_TXSYNCBYTE1 0xAA |
| #define SPI_TXSYNCBYTE2 0x83 |
| #define SPI_RXSYNCBYTE1 0x81 |
| #define SPI_RXSYNCBYTE2 0x55 |
| |
| typedef enum |
| { |
| SPI_SYNC1, |
| SPI_SYNC2, |
| SPI_DATA |
| } SPI_RXState_t; |
| |
| |
| // data exchange packets to and From NaviCtrl |
| ToNaviCtrl_t ToNaviCtrl; |
| FromNaviCtrl_t FromNaviCtrl; |
| |
| SPI_VersionInfo_t SPI_VersionInfo; |
| |
| // rx packet buffer |
| #define SPI_RXBUFFER_LEN sizeof(FromNaviCtrl) |
| uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
| uint8_t SPI_RxBufferIndex = 0; |
| uint8_t SPI_RxBuffer_Request = 0; |
| |
| // tx packet buffer |
| #define SPI_TXBUFFER_LEN sizeof(ToNaviCtrl) |
| uint8_t *SPI_TxBuffer; |
| uint8_t SPI_TxBufferIndex = 0; |
| |
| uint8_t SPITransferCompleted, SPI_ChkSum; |
| uint8_t SPI_RxDataValid = 0; |
| uint8_t NCDataOkay = 0; |
| uint8_t NCSerialDataOkay = 0; |
| int8_t NCGpsZ = 0; |
| |
| uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION, SPI_CMD_SERVOS}; |
| uint8_t SPI_CommandCounter = 0; |
| |
| /*********************************************/ |
| /* Initialize SPI interface to NaviCtrl */ |
| /*********************************************/ |
| 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); // set Slave select port as output port |
| |
| 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); // Deselect Slave |
| |
| SPI_TxBuffer = (uint8_t *) &ToNaviCtrl; // set pointer to tx-buffer |
| SPITransferCompleted = 1; |
| // initialize data packet to NaviControl |
| ToNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
| ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
| |
| ToNaviCtrl.Command = SPI_CMD_USER; |
| ToNaviCtrl.IntegralNick = 0; |
| ToNaviCtrl.IntegralRoll = 0; |
| NCSerialDataOkay = 0; |
| NCDataOkay = 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; |
| } |
| |
| |
| /**********************************************************/ |
| /* Update Data transferd by the SPI from/to NaviCtrl */ |
| /**********************************************************/ |
| void UpdateSPI_Buffer(void) |
| { |
| int16_t tmp; |
| |
| // update content of packet to NaviCtrl |
| ToNaviCtrl.IntegralNick = (int16_t)((10 * IntegralGyroNick) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
| ToNaviCtrl.IntegralRoll = (int16_t)((10 * IntegralGyroRoll) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
| ToNaviCtrl.GyroHeading = (int16_t)((10 * YawGyroHeading) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
| ToNaviCtrl.GyroNick = GyroNick; |
| ToNaviCtrl.GyroRoll = GyroRoll; |
| ToNaviCtrl.GyroYaw = GyroYaw; |
| ToNaviCtrl.AccNick = ((int16_t) 10 * ACC_AMPLIFY * (NaviAccNick / NaviCntAcc)) / ACC_DEG_FACTOR; // convert to multiple of 0.1° |
| ToNaviCtrl.AccRoll = ((int16_t) 10 * ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc)) / ACC_DEG_FACTOR; // convert to multiple of 0.1° |
| NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
| |
| switch(ToNaviCtrl.Command) |
| { |
| case SPI_CMD_USER: |
| ToNaviCtrl.Param.Byte[0] = FCParam.UserParam1; |
| ToNaviCtrl.Param.Byte[1] = FCParam.UserParam2; |
| ToNaviCtrl.Param.Byte[2] = FCParam.UserParam3; |
| ToNaviCtrl.Param.Byte[3] = FCParam.UserParam4; |
| ToNaviCtrl.Param.Byte[4] = FCParam.UserParam5; |
| ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6; |
| ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7; |
| ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8; |
| ToNaviCtrl.Param.Byte[8] = MKFlags; |
| MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting |
| ToNaviCtrl.Param.Byte[9] = (uint8_t)UBat; |
| ToNaviCtrl.Param.Byte[10] = LowVoltageWarning; |
| ToNaviCtrl.Param.Byte[11] = GetActiveParamSet(); |
| break; |
| |
| case SPI_CMD_PARAMETER1: |
| ToNaviCtrl.Param.Byte[0] = ParamSet.NaviGpsModeControl; // Parameters for the Naviboard |
| ToNaviCtrl.Param.Byte[1] = ParamSet.NaviGpsGain; |
| ToNaviCtrl.Param.Byte[2] = ParamSet.NaviGpsP; |
| ToNaviCtrl.Param.Byte[3] = ParamSet.NaviGpsI; |
| ToNaviCtrl.Param.Byte[4] = ParamSet.NaviGpsD; |
| ToNaviCtrl.Param.Byte[5] = ParamSet.NaviGpsACC; |
| ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsMinSat; |
| ToNaviCtrl.Param.Byte[7] = ParamSet.NaviStickThreshold; |
| ToNaviCtrl.Param.Byte[8] = ParamSet.NaviOperatingRadius; |
| ToNaviCtrl.Param.Byte[9] = ParamSet.NaviWindCorrection; |
| ToNaviCtrl.Param.Byte[10] = ParamSet.NaviSpeedCompensation; |
| ToNaviCtrl.Param.Byte[11] = ParamSet.NaviAngleLimitation; |
| break; |
| |
| |
| case SPI_CMD_STICK: |
| cli(); |
| tmp = PPM_in[ParamSet.ChannelAssignment[CH_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| ToNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
| tmp = PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| ToNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
| tmp = PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| ToNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
| tmp = PPM_in[ParamSet.ChannelAssignment[CH_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| ToNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
| sei(); |
| ToNaviCtrl.Param.Byte[4] = (uint8_t) Poti1; |
| ToNaviCtrl.Param.Byte[5] = (uint8_t) Poti2; |
| ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3; |
| ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4; |
| ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
| ToNaviCtrl.Param.Byte[9] = (uint8_t) RC_RSSI; |
| ToNaviCtrl.Param.Byte[10] = DebugOut.Analog[7] / 4; // gasmixfraction |
| break; |
| |
| case SPI_CMD_MISC: |
| ToNaviCtrl.Param.Byte[0] = CompassCalState; |
| if(CompassCalState > 4) |
| { // jump from 5 to 0 |
| CompassCalState = 0; |
| } |
| ToNaviCtrl.Param.Byte[1] = ParamSet.NaviPHLoginTime; |
| ToNaviCtrl.Param.Int[1] = (int16_t)(ReadingHeight/5); // at address of Byte 2 and 3 |
| ToNaviCtrl.Param.Int[2] = (int16_t)(SetPointHeight/5);// at address of Byte 4 and 5 |
| ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsPLimit; |
| ToNaviCtrl.Param.Byte[7] = ParamSet.NaviGpsILimit; |
| ToNaviCtrl.Param.Byte[8] = ParamSet.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] = BoardRelease; |
| break; |
| |
| case SPI_CMD_SERVOS: |
| ToNaviCtrl.Param.Byte[0] = ParamSet.ServoRefresh; // Parameters for the Servo Control |
| ToNaviCtrl.Param.Byte[1] = ParamSet.ServoCompInvert; |
| ToNaviCtrl.Param.Byte[2] = FCParam.ServoNickControl; |
| ToNaviCtrl.Param.Byte[3] = ParamSet.ServoNickComp; |
| ToNaviCtrl.Param.Byte[4] = ParamSet.ServoNickMin; |
| ToNaviCtrl.Param.Byte[5] = ParamSet.ServoNickMax; |
| ToNaviCtrl.Param.Byte[6] = FCParam.ServoRollControl; |
| ToNaviCtrl.Param.Byte[7] = ParamSet.ServoRollComp; |
| ToNaviCtrl.Param.Byte[8] = ParamSet.ServoRollMin; |
| ToNaviCtrl.Param.Byte[9] = ParamSet.ServoRollMax; |
| break; |
| |
| default: |
| break; |
| } |
| |
| // analyze content of packet from NaviCtrl if valid |
| if (SPI_RxDataValid) |
| { |
| // update gps controls |
| if(abs(FromNaviCtrl.GPSStickNick) < 512 && abs(FromNaviCtrl.GPSStickRoll) < 512 && (ParamSet.Config0 & CFG0_GPS_ACTIVE)) |
| { |
| GPSStickNick = FromNaviCtrl.GPSStickNick; |
| GPSStickRoll = FromNaviCtrl.GPSStickRoll; |
| NCDataOkay = 250; |
| } |
| // update compass readings |
| if(FromNaviCtrl.CompassHeading <= 360) |
| { |
| CompassHeading = FromNaviCtrl.CompassHeading; |
| } |
| if(CompassHeading < 0) CompassOffCourse = 0; |
| else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
| // NaviCtrl wants to beep? |
| if (FromNaviCtrl.BeepTime > BeepTime && !CompassCalState) BeepTime = FromNaviCtrl.BeepTime; |
| |
| switch (FromNaviCtrl.Command) |
| { |
| |
| case SPI_KALMAN: |
| FCParam.KalmanK = FromNaviCtrl.Param.sByte[0]; |
| FCParam.KalmanMaxFusion = FromNaviCtrl.Param.sByte[1]; |
| FCParam.KalmanMaxDrift = FromNaviCtrl.Param.sByte[2]; |
| NCSerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
| NCGpsZ = FromNaviCtrl.Param.sByte[4]; |
| break; |
| |
| default: |
| break; |
| } |
| } |
| else // no valid data from NaviCtrl |
| { |
| // disable GPS control |
| GPSStickNick = 0; |
| GPSStickRoll = 0; |
| NCGpsZ = 0; |
| } |
| } |
| |
| |
| |
| /*********************************************/ |
| /* Start Transmission of packet to NaviCtrl */ |
| /*********************************************/ |
| void SPI_StartTransmitPacket(void) |
| { |
| |
| if (!SPITransferCompleted) return; // return immediately if transfer is in progress |
| else // transmission was completed |
| { |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
| |
| // cyclic commands |
| ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| |
| SPITransferCompleted = 0; // transfer is in progress |
| UpdateSPI_Buffer(); // update data in ToNaviCtrl |
| |
| SPI_TxBufferIndex = 1; //proceed with 2nd byte |
| |
| // -- 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; // init checksum |
| SPDR = ToNaviCtrl.Sync1; // send first byte |
| } |
| } |
| |
| //------------------------------------------------------ |
| // This is the spi data transfer between FlightCtrl and NaviCtrl |
| // Every time this routine is called within the mainloop one byte of the packet to |
| // the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
| |
| void SPI_TransmitByte(void) |
| { |
| static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
| uint8_t rxdata; |
| static uint8_t rxchksum; |
| |
| if (SPITransferCompleted) return; // return immediatly if transfer was completed |
| if (!(SPSR & (1 << SPIF))) return; // return if no SPI-IRQ pending |
| SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
| |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| |
| rxdata = SPDR; // save spi data register |
| |
| switch (SPI_RXState) |
| { |
| case SPI_SYNC1: // first sync byte |
| SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
| rxchksum = rxdata; // initialize checksum |
| if (rxdata == SPI_RXSYNCBYTE1 ) |
| { // 1st Syncbyte found |
| SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
| } |
| break; |
| |
| case SPI_SYNC2: // second sync byte |
| if (rxdata == SPI_RXSYNCBYTE2) |
| { // 2nd Syncbyte found |
| rxchksum += rxdata; // update checksum |
| SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
| } |
| else // 2nd Syncbyte not found |
| { |
| SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
| } |
| break; |
| |
| case SPI_DATA: // data bytes |
| SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
| // if all bytes are received of a packet from the NaviCtrl |
| if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) |
| { // last byte transfered is the checksum of the packet |
| if (rxdata == rxchksum) // checksum matching? |
| { |
| // copy SPI_RxBuffer -> FromFlightCtrl |
| uint8_t *ptr = (uint8_t *)&FromNaviCtrl; |
| cli(); |
| memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(FromNaviCtrl)); |
| sei(); |
| SPI_RxDataValid = 1; |
| //DebugOut.Analog[18]++; |
| } |
| else |
| { // checksum does not match |
| //DebugOut.Analog[17]++; |
| SPI_RxDataValid = 0; // reset valid flag |
| } |
| SPI_RXState = SPI_SYNC1; // reset state sync |
| } |
| else // not all bytes transfered |
| { |
| rxchksum += rxdata; // update checksum |
| } |
| break; |
| }// eof switch(SPI_RXState) |
| |
| // if still some bytes left for transmission to NaviCtrl |
| if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) |
| { |
| 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_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
| ToNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
| SPI_TxBufferIndex++; |
| } |
| else |
| { |
| //Transfer of all bytes of the packet to NaviCtrl completed |
| SPITransferCompleted = 1; |
| } |
| } |
| |
| |
| |