WebSVN - FlightCtrl - Blame - /branches/FC_076g

Rev	Author	Line No.	Line
1538	killagreg	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		2	// + Copyright (c) Holger Buss, Ingo Busker
		3	// + Nur f�r den privaten Gebrauch
		4	// + www.MikroKopter.com
		5	// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
		6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		7	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
		8	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
		9	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
		10	// + bzgl. der Nutzungsbedingungen aufzunehmen.
		11	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
		12	// + Verkauf von Luftbildaufnahmen, usw.
		13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		14	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
		15	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
		16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		17	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
		18	// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
		19	// + eindeutig als Ursprung verlinkt werden
		20	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		21	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
		22	// + Benutzung auf eigene Gefahr
		23	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
		24	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		25	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
		26	// + mit unserer Zustimmung zul�ssig
		27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		28	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
		29	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		30	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
		31	// + this list of conditions and the following disclaimer.
		32	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
		33	// + from this software without specific prior written permission.
		34	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
		35	// + for non-commercial use (directly or indirectly)
		36	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
		37	// + with our written permission
		38	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
		39	// + clearly linked as origin
		40	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
		41	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
		42	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
		43	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
		44	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
		45	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
		46	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
		47	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
		48	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
		49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
		50	// + POSSIBILITY OF SUCH DAMAGE.
		51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		52	#include <avr/io.h>
		53	#include <avr/interrupt.h>
		54	#include <string.h>
		55	#include <stdlib.h>
		56	#include "main.h"
		57	#include "spi.h"
		58	#include "fc.h"
		59	#include "rc.h"
		60	#include "eeprom.h"
		61	#include "uart0.h"
		62	#include "timer0.h"
		63	#include "analog.h"
		64
		65
		66	//-----------------------------------------
		67	#define DDR_SPI DDRB
		68	#define DD_SS PB4
		69	#define DD_SCK PB7
		70	#define DD_MOSI PB5
		71	#define DD_MISO PB6
		72
		73	// for compatibility reasons gcc3.x <-> gcc4.x
		74	#ifndef SPCR
		75	#define SPCR SPCR0
		76	#endif
		77	#ifndef SPIE
		78	#define SPIE SPIE0
		79	#endif
		80	#ifndef SPE
		81	#define SPE SPE0
		82	#endif
		83	#ifndef DORD
		84	#define DORD DORD0
		85	#endif
		86	#ifndef MSTR
		87	#define MSTR MSTR0
		88	#endif
		89	#ifndef CPOL
		90	#define CPOL CPOL0
		91	#endif
		92	#ifndef CPHA
		93	#define CPHA CPHA0
		94	#endif
		95	#ifndef SPR1
		96	#define SPR1 SPR01
		97	#endif
		98	#ifndef SPR0
		99	#define SPR0 SPR00
		100	#endif
		101
		102	#ifndef SPDR
		103	#define SPDR SPDR0
		104	#endif
		105
		106	#ifndef SPSR
		107	#define SPSR SPSR0
		108	#endif
		109	#ifndef SPIF
		110	#define SPIF SPIF0
		111	#endif
		112	#ifndef WCOL
		113	#define WCOL WCOL0
		114	#endif
		115	#ifndef SPI2X
		116	#define SPI2X SPI2X0
		117	#endif
		118	// -------------------------
		119
		120	#define SLAVE_SELECT_DDR_PORT DDRC
		121	#define SLAVE_SELECT_PORT PORTC
		122	#define SPI_SLAVE_SELECT PC5
		123
		124
		125	#define SPI_TXSYNCBYTE1 0xAA
		126	#define SPI_TXSYNCBYTE2 0x83
		127	#define SPI_RXSYNCBYTE1 0x81
		128	#define SPI_RXSYNCBYTE2 0x55
		129
		130	typedef enum
		131	{
		132	SPI_SYNC1,
		133	SPI_SYNC2,
		134	SPI_DATA
		135	} SPI_RXState_t;
		136
		137
		138	// data exchange packets to and From NaviCtrl
		139	ToNaviCtrl_t ToNaviCtrl;
		140	FromNaviCtrl_t FromNaviCtrl;
		141
		142	SPI_VersionInfo_t SPI_VersionInfo;
		143
		144	// rx packet buffer
		145	#define SPI_RXBUFFER_LEN sizeof(FromNaviCtrl)
		146	uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN];
		147	uint8_t SPI_RxBufferIndex = 0;
		148	uint8_t SPI_RxBuffer_Request = 0;
		149
		150	// tx packet buffer
		151	#define SPI_TXBUFFER_LEN sizeof(ToNaviCtrl)
		152	uint8_t *SPI_TxBuffer;
		153	uint8_t SPI_TxBufferIndex = 0;
		154
		155	uint8_t SPITransferCompleted, SPI_ChkSum;
		156	uint8_t SPI_RxDataValid = 0;
		157	uint8_t NCDataOkay = 0;
		158	uint8_t NCSerialDataOkay = 0;
		159	int8_t NCGpsZ = 0;
		160
		161	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};
		162	uint8_t SPI_CommandCounter = 0;
		163
		164	/*********************************************/
		165	/* Initialize SPI interface to NaviCtrl */
		166	/*********************************************/
		167	void SPI_MasterInit(void)
		168	{
		169	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input
		170	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port
		171
		172	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPR0)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
		173	SPSR = 0;//(1<<SPI2X);
		174
		175	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // Deselect Slave
		176
		177	SPI_TxBuffer = (uint8_t *) &ToNaviCtrl; // set pointer to tx-buffer
		178	SPITransferCompleted = 1;
		179	// initialize data packet to NaviControl
		180	ToNaviCtrl.Sync1 = SPI_TXSYNCBYTE1;
		181	ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2;
		182
		183	ToNaviCtrl.Command = SPI_CMD_USER;
		184	ToNaviCtrl.IntegralNick = 0;
		185	ToNaviCtrl.IntegralRoll = 0;
		186	NCSerialDataOkay = 0;
		187	NCDataOkay = 0;
		188
		189	SPI_RxDataValid = 0;
		190
		191	SPI_VersionInfo.Major = VERSION_MAJOR;
		192	SPI_VersionInfo.Minor = VERSION_MINOR;
		193	SPI_VersionInfo.Patch = VERSION_PATCH;
		194	SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE;
		195	}
		196
		197
		198	/**********************************************************/
		199	/* Update Data transferd by the SPI from/to NaviCtrl */
		200	/**********************************************************/
		201	void UpdateSPI_Buffer(void)
		202	{
		203	int16_t tmp;
		204
		205	// update content of packet to NaviCtrl
		206	ToNaviCtrl.IntegralNick = (int16_t)((10 * IntegralGyroNick) / GYRO_DEG_FACTOR); // convert to multiple of 0.1�
		207	ToNaviCtrl.IntegralRoll = (int16_t)((10 * IntegralGyroRoll) / GYRO_DEG_FACTOR); // convert to multiple of 0.1�
		208	ToNaviCtrl.GyroHeading = (int16_t)((10 * YawGyroHeading) / GYRO_DEG_FACTOR); // convert to multiple of 0.1�
		209	ToNaviCtrl.GyroNick = GyroNick;
		210	ToNaviCtrl.GyroRoll = GyroRoll;
		211	ToNaviCtrl.GyroYaw = GyroYaw;
		212	ToNaviCtrl.AccNick = ((int16_t) 10 * ACC_AMPLIFY * (NaviAccNick / NaviCntAcc)) / ACC_DEG_FACTOR; // convert to multiple of 0.1�
		213	ToNaviCtrl.AccRoll = ((int16_t) 10 * ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc)) / ACC_DEG_FACTOR; // convert to multiple of 0.1�
		214	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
		215
		216	switch(ToNaviCtrl.Command)
		217	{
		218	case SPI_CMD_USER:
		219	ToNaviCtrl.Param.Byte[0] = FCParam.UserParam1;
		220	ToNaviCtrl.Param.Byte[1] = FCParam.UserParam2;
		221	ToNaviCtrl.Param.Byte[2] = FCParam.UserParam3;
		222	ToNaviCtrl.Param.Byte[3] = FCParam.UserParam4;
		223	ToNaviCtrl.Param.Byte[4] = FCParam.UserParam5;
		224	ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6;
		225	ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7;
		226	ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8;
		227	ToNaviCtrl.Param.Byte[8] = MKFlags;
		228	MKFlags &= ~(MKFLAG_CALIBRATE \| MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting
		229	ToNaviCtrl.Param.Byte[9] = (uint8_t)UBat;
		230	ToNaviCtrl.Param.Byte[10] = LowVoltageWarning;
		231	ToNaviCtrl.Param.Byte[11] = GetActiveParamSet();
		232	break;
		233
		234	case SPI_CMD_PARAMETER1:
		235	ToNaviCtrl.Param.Byte[0] = ParamSet.NaviGpsModeControl; // Parameters for the Naviboard
		236	ToNaviCtrl.Param.Byte[1] = ParamSet.NaviGpsGain;
		237	ToNaviCtrl.Param.Byte[2] = ParamSet.NaviGpsP;
		238	ToNaviCtrl.Param.Byte[3] = ParamSet.NaviGpsI;
		239	ToNaviCtrl.Param.Byte[4] = ParamSet.NaviGpsD;
		240	ToNaviCtrl.Param.Byte[5] = ParamSet.NaviGpsACC;
		241	ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsMinSat;
		242	ToNaviCtrl.Param.Byte[7] = ParamSet.NaviStickThreshold;
		243	ToNaviCtrl.Param.Byte[8] = ParamSet.NaviOperatingRadius;
		244	ToNaviCtrl.Param.Byte[9] = ParamSet.NaviWindCorrection;
		245	ToNaviCtrl.Param.Byte[10] = ParamSet.NaviSpeedCompensation;
		246	ToNaviCtrl.Param.Byte[11] = ParamSet.NaviAngleLimitation;
		247	break;
		248
		249
		250	case SPI_CMD_STICK:
		251	cli();
		252	tmp = PPM_in[ParamSet.ChannelAssignment[CH_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128;
		253	ToNaviCtrl.Param.Byte[0] = (int8_t) tmp;
		254	tmp = PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128;
		255	ToNaviCtrl.Param.Byte[1] = (int8_t) tmp;
		256	tmp = PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128;
		257	ToNaviCtrl.Param.Byte[2] = (int8_t) tmp;
		258	tmp = PPM_in[ParamSet.ChannelAssignment[CH_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128;
		259	ToNaviCtrl.Param.Byte[3] = (int8_t) tmp;
		260	sei();
		261	ToNaviCtrl.Param.Byte[4] = (uint8_t) Poti1;
		262	ToNaviCtrl.Param.Byte[5] = (uint8_t) Poti2;
		263	ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3;
		264	ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4;
		265	ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality;
		266	ToNaviCtrl.Param.Byte[9] = (uint8_t) RC_RSSI;
		267	ToNaviCtrl.Param.Byte[10] = DebugOut.Analog[7] / 4; // gasmixfraction
		268	break;
		269
		270	case SPI_CMD_MISC:
		271	ToNaviCtrl.Param.Byte[0] = CompassCalState;
		272	if(CompassCalState > 4)
		273	{ // jump from 5 to 0
		274	CompassCalState = 0;
		275	}
		276	ToNaviCtrl.Param.Byte[1] = ParamSet.NaviPHLoginTime;
		277	ToNaviCtrl.Param.Int[1] = (int16_t)(ReadingHeight/5); // at address of Byte 2 and 3
		278	ToNaviCtrl.Param.Int[2] = (int16_t)(SetPointHeight/5);// at address of Byte 4 and 5
		279	ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsPLimit;
		280	ToNaviCtrl.Param.Byte[7] = ParamSet.NaviGpsILimit;
		281	ToNaviCtrl.Param.Byte[8] = ParamSet.NaviGpsDLimit;
		282	break;
		283
		284	case SPI_CMD_VERSION:
		285	ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;
		286	ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;
		287	ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;
		288	ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;
		289	ToNaviCtrl.Param.Byte[4] = BoardRelease;
		290	break;
		291
		292	case SPI_CMD_SERVOS:
		293	ToNaviCtrl.Param.Byte[0] = ParamSet.ServoRefresh; // Parameters for the Servo Control
		294	ToNaviCtrl.Param.Byte[1] = ParamSet.ServoCompInvert;
		295	ToNaviCtrl.Param.Byte[2] = FCParam.ServoNickControl;
		296	ToNaviCtrl.Param.Byte[3] = ParamSet.ServoNickComp;
		297	ToNaviCtrl.Param.Byte[4] = ParamSet.ServoNickMin;
		298	ToNaviCtrl.Param.Byte[5] = ParamSet.ServoNickMax;
		299	ToNaviCtrl.Param.Byte[6] = FCParam.ServoRollControl;
		300	ToNaviCtrl.Param.Byte[7] = ParamSet.ServoRollComp;
		301	ToNaviCtrl.Param.Byte[8] = ParamSet.ServoRollMin;
		302	ToNaviCtrl.Param.Byte[9] = ParamSet.ServoRollMax;
		303	break;
		304
		305	default:
		306	break;
		307	}
		308
		309	// analyze content of packet from NaviCtrl if valid
		310	if (SPI_RxDataValid)
		311	{
		312	// update gps controls
		313	if(abs(FromNaviCtrl.GPSStickNick) < 512 && abs(FromNaviCtrl.GPSStickRoll) < 512 && (ParamSet.Config0 & CFG0_GPS_ACTIVE))
		314	{
		315	GPSStickNick = FromNaviCtrl.GPSStickNick;
		316	GPSStickRoll = FromNaviCtrl.GPSStickRoll;
		317	NCDataOkay = 250;
		318	}
		319	// update compass readings
		320	if(FromNaviCtrl.CompassHeading <= 360)
		321	{
		322	CompassHeading = FromNaviCtrl.CompassHeading;
		323	}
		324	if(CompassHeading < 0) CompassOffCourse = 0;
		325	else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180;
		326	// NaviCtrl wants to beep?
		327	if (FromNaviCtrl.BeepTime > BeepTime && !CompassCalState) BeepTime = FromNaviCtrl.BeepTime;
		328
		329	switch (FromNaviCtrl.Command)
		330	{
		331
		332	case SPI_KALMAN:
		333	FCParam.KalmanK = FromNaviCtrl.Param.sByte[0];
		334	FCParam.KalmanMaxFusion = FromNaviCtrl.Param.sByte[1];
		335	FCParam.KalmanMaxDrift = FromNaviCtrl.Param.sByte[2];
		336	NCSerialDataOkay = FromNaviCtrl.Param.Byte[3];
		337	NCGpsZ = FromNaviCtrl.Param.sByte[4];
		338	break;
		339
		340	default:
		341	break;
		342	}
		343	}
		344	else // no valid data from NaviCtrl
		345	{
		346	// disable GPS control
		347	GPSStickNick = 0;
		348	GPSStickRoll = 0;
		349	NCGpsZ = 0;
		350	}
		351	}
		352
		353
		354
		355	/*********************************************/
		356	/* Start Transmission of packet to NaviCtrl */
		357	/*********************************************/
		358	void SPI_StartTransmitPacket(void)
		359	{
		360
		361	if (!SPITransferCompleted) return; // return immediately if transfer is in progress
		362	else // transmission was completed
		363	{
		364	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave
		365
		366	// cyclic commands
		367	ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
		368	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
		369
		370	SPITransferCompleted = 0; // transfer is in progress
		371	UpdateSPI_Buffer(); // update data in ToNaviCtrl
		372
		373	SPI_TxBufferIndex = 1; //proceed with 2nd byte
		374
		375	// -- Debug-Output ---
		376	//----
		377	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		378	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		379	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		380	ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; // init checksum
		381	SPDR = ToNaviCtrl.Sync1; // send first byte
		382	}
		383	}
		384
		385	//------------------------------------------------------
		386	// This is the spi data transfer between FlightCtrl and NaviCtrl
		387	// Every time this routine is called within the mainloop one byte of the packet to
		388	// the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered
		389
		390	void SPI_TransmitByte(void)
		391	{
		392	static SPI_RXState_t SPI_RXState = SPI_SYNC1;
		393	uint8_t rxdata;
		394	static uint8_t rxchksum;
		395
		396	if (SPITransferCompleted) return; // return immediatly if transfer was completed
		397	if (!(SPSR & (1 << SPIF))) return; // return if no SPI-IRQ pending
		398	SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop
		399
		400	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		401
		402	rxdata = SPDR; // save spi data register
		403
		404	switch (SPI_RXState)
		405	{
		406	case SPI_SYNC1: // first sync byte
		407	SPI_RxBufferIndex = 0; // set pointer to start of rx buffer
		408	rxchksum = rxdata; // initialize checksum
		409	if (rxdata == SPI_RXSYNCBYTE1 )
		410	{ // 1st Syncbyte found
		411	SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte
		412	}
		413	break;
		414
		415	case SPI_SYNC2: // second sync byte
		416	if (rxdata == SPI_RXSYNCBYTE2)
		417	{ // 2nd Syncbyte found
		418	rxchksum += rxdata; // update checksum
		419	SPI_RXState = SPI_DATA; // trigger to state for second sync byte
		420	}
		421	else // 2nd Syncbyte not found
		422	{
		423	SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte
		424	}
		425	break;
		426
		427	case SPI_DATA: // data bytes
		428	SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer
		429	// if all bytes are received of a packet from the NaviCtrl
		430	if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN)
		431	{ // last byte transfered is the checksum of the packet
		432	if (rxdata == rxchksum) // checksum matching?
		433	{
		434	// copy SPI_RxBuffer -> FromFlightCtrl
		435	uint8_t ptr = (uint8_t )&FromNaviCtrl;
		436	cli();
		437	memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(FromNaviCtrl));
		438	sei();
		439	SPI_RxDataValid = 1;
		440	//DebugOut.Analog[18]++;
		441	}
		442	else
		443	{ // checksum does not match
		444	//DebugOut.Analog[17]++;
		445	SPI_RxDataValid = 0; // reset valid flag
		446	}
		447	SPI_RXState = SPI_SYNC1; // reset state sync
		448	}
		449	else // not all bytes transfered
		450	{
		451	rxchksum += rxdata; // update checksum
		452	}
		453	break;
		454	}// eof switch(SPI_RXState)
		455
		456	// if still some bytes left for transmission to NaviCtrl
		457	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN)
		458	{
		459	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
		460	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		461	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		462	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		463
		464	SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte
		465	ToNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent
		466	SPI_TxBufferIndex++;
		467	}
		468	else
		469	{
		470	//Transfer of all bytes of the packet to NaviCtrl completed
		471	SPITransferCompleted = 1;
		472	}
		473	}
		474
		475
		476

Subversion Repositories FlightCtrl

(root)/branches/FC_076g_Code Redesign killagreg/spi.c @ 1538 - Rev