WebSVN - FlightCtrl - Diff - Rev 2176 and 2177 - /branches/V0.88n_ACC-HH_HR


// ######################## SPI - FlightCtrl ###################
#include "main.h"
#include "eeprom.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 NC_Version;
struct str_GPSInfo GPSInfo;
 
unsigned char SPI_BufferIndex;
unsigned char SPI_RxBufferIndex;
signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0;
 
volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
unsigned char *SPI_TX_Buffer;
 
unsigned char SPITransferCompleted, SPI_ChkSum;
unsigned char SPI_RxDataValid,NaviDataOkay = 250;
 
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};
unsigned char SPI_CommandCounter = 0;
unsigned char NC_ErrorCode = 0;
unsigned char NC_GPS_ModeCharacter = ' ';
unsigned char EarthMagneticField = 0;
unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0;
unsigned char NC_To_FC_Flags = 0;
unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card
signed int POI_KameraNick = 0; // in 0,1°
vector16_t MagVec = {0,0,0};
 
#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_FCCMD_USER;
  ToNaviCtrl.IntegralNick = 0;
  ToNaviCtrl.IntegralRoll = 0;
  FromNaviCtrl_Value.SerialDataOkay = 0;
  SPI_RxDataValid = 0;
 
}
 
//------------------------------------------------------
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;
                        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;
           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;
  static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION;
  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.GyroGier = (signed int) AdNeutralGier - AdWertGier;
  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_FCCMD_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] = FC_StatusFlags;
                FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START);
                    ToNaviCtrl.Param.Byte[9] = GetActiveParamSet();
                                ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude;
                                ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;
        break;
 
     case SPI_FCCMD_ACCU:
                        ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
                        ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
                        ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
                        ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V
                                ToNaviCtrl.Param.Byte[6] = VarioCharacter;
                                ToNaviCtrl.Param.Byte[7] = motorindex;
                                ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM;
                                ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State;
                                ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature;
                                ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current;
                                motorindex %= 12;
        break;
         case SPI_FCCMD_PARAMETER1:
                                //ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard //MartinR: sowar 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.NaviAccCompensation;
                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
            break;
 
         case SPI_FCCMD_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) Poti[0];
                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
                                ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
                                ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
                                ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
                        break;
                case SPI_FCCMD_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] = (int)(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;
            ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
            ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0];
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
                        break;
                case SPI_FCCMD_VERSION:
                        ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
                        ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
                        ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
                        ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
                        ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
                        ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0];
                        ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1];
                        VersionInfo.HardwareError[0] = 0;
                        VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER;
                        ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; // unused
                        ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig;
                        ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig;
                        ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle;
                        ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3;
                break;
            case SPI_FCCMD_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;
                        ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM;
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter
                break;
        }
     
  if(SPI_RxDataValid)
  {
        if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250;
        oldcommand = FromNaviCtrl.Command;
        CalculateCompassTimer = 1;
        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;
        }
 
        // update compass readings
//      MagVec.x = FromNaviCtrl.MagVecX;
//      MagVec.y = FromNaviCtrl.MagVecY;
//      MagVec.z = FromNaviCtrl.MagVecZ;
 
        if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
//    KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
 
    if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime;
          switch (FromNaviCtrl.Command)
          {
            case SPI_NCCMD_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];
                        KompassFusion = FromNaviCtrl.Param.sByte[3];
                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
                        FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
                        FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
                        GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7];
                        if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0)
                         {
                          KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
                          if(EE_Parameter.CamOrientation)  // Kamera angle is not front
                           {
                            KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15);
                                KompassSollWert %= 360;
                           }   
                         }
                        POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel
                        break;
                case SPI_NCCMD_VERSION:
                        NC_Version.Major = FromNaviCtrl.Param.Byte[0];
                        NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
                        NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
                        NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
                        DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5];
                        DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08));
                        NC_ErrorCode = FromNaviCtrl.Param.Byte[7];
                        NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8];
                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9];
                        NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10];
                        NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11];
                        break;
                case SPI_NCCMD_GPSINFO:
                        GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
                        GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
                        GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
                        GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
                        GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
                        GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
                        PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value
            FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9];
                FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10;  // in cm
                        break;
                case SPI_MISC:
                        EarthMagneticField = FromNaviCtrl.Param.Byte[0];
                        EarthMagneticInclination = FromNaviCtrl.Param.Byte[1];
                        EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2];
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
                        if(FromNaviCtrl.Param.Byte[3])
            if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[3];
#endif
                        break;    
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
                case SPI_NCCMD_HOTT_DATA:
                        if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety();
                        break;
#endif
 
// 0 = 0,1
// 1 = 2,3
// 2 = 4,5
// 3 = 6,7
// 4 = 8,9
// 5 = 10,11
                default:
                        break;
          }
  }
  else
  {
//    KompassValue = 0;
//    KompassRichtung = 0;
        GPS_Nick = 0;
    GPS_Roll = 0;
  }
}
 
#endif
 
 
 
Subversion Repositories FlightCtrl

(root)/branches/V0.88n_ACC-HH_HR_MartinR/spi.c - Rev 2176 → 2177
