WebSVN - FlightCtrl - Blame - Rev 2751 - /branches/KalmanFilter MikeW/FlightCtrl/V0.71h/spi.c

Rev	Author	Line No.	Line
2751	-	1	// ######################## SPI - FlightCtrl ###################
		2	#include "main.h"
		3
		4
		5	//struct str_ToNaviCtrl_Version ToNaviCtrl_Version;
		6	//struct str_FromNaviCtrl_Version FromNaviCtrl_Version;
		7	struct str_ToNaviCtrl ToNaviCtrl;
		8	struct str_FromNaviCtrl FromNaviCtrl;
		9	struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
		10	struct str_SPI_VersionInfo SPI_VersionInfo;
		11
		12	unsigned char SPI_BufferIndex;
		13	unsigned char SPI_RxBufferIndex;
		14
		15	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)];
		16	unsigned char *SPI_TX_Buffer;
		17
		18	unsigned char SPITransferCompleted, SPI_ChkSum;
		19	unsigned char SPI_RxDataValid;
		20
		21	unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION };
		22	unsigned char SPI_CommandCounter = 0;
		23
		24	#ifdef USE_SPI_COMMUNICATION
		25
		26	//------------------------------------------------------
		27	void SPI_MasterInit(void)
		28	{
		29	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input
		30	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);
		31
		32	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPR0)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
		33	SPSR = 0;//(1<<SPI2X);
		34
		35	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);
		36	SPITransferCompleted = 1;
		37
		38	//SPDR = 0x00; // dummy write
		39
		40	ToNaviCtrl.Sync1 = 0xAA;
		41	ToNaviCtrl.Sync2 = 0x83;
		42
		43	ToNaviCtrl.Command = SPI_CMD_USER;
		44	ToNaviCtrl.IntegralNick = 0;
		45	ToNaviCtrl.IntegralRoll = 0;
		46	SPI_RxDataValid = 0;
		47
		48	SPI_VersionInfo.Major = VERSION_MAJOR;
		49	SPI_VersionInfo.Minor = VERSION_MINOR;
		50	SPI_VersionInfo.Patch = VERSION_PATCH;
		51	SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE;
		52	}
		53
		54	//------------------------------------------------------
		55	void SPI_StartTransmitPacket(void)
		56	{
		57	//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed
		58	if (!SPITransferCompleted) return;
		59	// _delay_us(30);
		60
		61	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
		62	SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
		63
		64	ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
		65	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
		66
		67	SPITransferCompleted = 0;
		68	UpdateSPI_Buffer(); // update buffer
		69
		70	SPI_BufferIndex = 1;
		71	//ebugOut.Analog[16]++;
		72	// -- Debug-Output ---
		73	//----
		74	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		75	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		76	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		77	ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
		78	SPDR = ToNaviCtrl.Sync1; // Start transmission
		79	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		80
		81	}
		82
		83	//------------------------------------------------------
		84	//SIGNAL(SIG_SPI)
		85	void SPI_TransmitByte(void)
		86	{
		87	static unsigned char SPI_RXState = 0;
		88	unsigned char rxdata;
		89	static unsigned char rxchksum;
		90
		91	if (SPITransferCompleted) return;
		92	if (!(SPSR & (1 << SPIF))) return;
		93	SendSPI = 4;
		94
		95	// _delay_us(30);
		96	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		97
		98	rxdata = SPDR;
		99	switch ( SPI_RXState)
		100	{
		101	case 0:
		102
		103	SPI_RxBufferIndex = 0;
		104	//DebugOut.Analog[17]++;
		105	rxchksum = rxdata;
		106	if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok
		107
		108	break;
		109
		110	case 1:
		111	if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok
		112	else SPI_RXState = 0;
		113	//DebugOut.Analog[18]++;
		114	break;
		115
		116	case 2:
		117	SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data
		118	//DebugOut.Analog[19]++;
		119	if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
		120	{
		121
		122	if (rxdata == rxchksum)
		123	{
		124	unsigned char ptr = (unsigned char )&FromNaviCtrl;
		125
		126	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));
		127
		128	SPI_RxDataValid = 1;
		129	}
		130	else SPI_RxDataValid = 0;
		131
		132	SPI_RXState = 0;
		133	}
		134	else rxchksum += rxdata;
		135	break;
		136
		137	}
		138
		139	if (SPI_BufferIndex < sizeof(ToNaviCtrl))
		140	{
		141	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
		142	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		143	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		144	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		145
		146	SPDR = SPI_TX_Buffer[SPI_BufferIndex];
		147	ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
		148	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		149
		150	}
		151	else SPITransferCompleted = 1;
		152
		153	SPI_BufferIndex++;
		154	}
		155
		156
		157	//------------------------------------------------------
		158	void UpdateSPI_Buffer(void)
		159	{
		160	static unsigned char i =0;
		161	signed int tmp;
		162	cli();
		163
		164	ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108);
		165	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108);
		166	ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
		167	ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc);
		168	ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc);
		169	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
		170	// ToNaviCtrl.User8 = Parameter_UserParam8;
		171	// ToNaviCtrl.CalState = WinkelOut.CalcState;
		172
		173	switch(ToNaviCtrl.Command) //
		174	{
		175	case SPI_CMD_USER:
		176	ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
		177	ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
		178	ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
		179	ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
		180	ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
		181	ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
		182	ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
		183	ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
		184	ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;
		185	MikroKopterFlags &= ~(FLAG_CALIBRATE \| FLAG_START);
		186	ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;
		187	ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung;
		188	ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
		189	break;
		190	case SPI_CMD_PARAMETER1:
		191	ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard
		192	ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
		193	ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
		194	ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
		195	ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
		196	ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
		197	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
		198	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
		199	ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
		200	ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
		201	ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
		202	ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
		203	break;
		204	case SPI_CMD_STICK:
		205	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		206	ToNaviCtrl.Param.Byte[0] = (char) tmp;
		207	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		208	ToNaviCtrl.Param.Byte[1] = (char) tmp;
		209	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		210	ToNaviCtrl.Param.Byte[2] = (char) tmp;
		211	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		212	ToNaviCtrl.Param.Byte[3] = (char) tmp;
		213	ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;
		214	ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;
		215	ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
		216	ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
		217	ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
		218	break;
		219	case SPI_CMD_MISC:
		220	if(WinkelOut.CalcState > 5)
		221	{
		222	WinkelOut.CalcState = 0;
		223	ToNaviCtrl.Param.Byte[0] = 5;
		224	}
		225	else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
		226	ToNaviCtrl.Param.Int[1] = HoehenWert;
		227	break;
		228
		229	case SPI_CMD_VERSION:
		230	ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;
		231	ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;
		232	ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;
		233	ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;
		234	break;
		235	}
		236
		237	sei();
		238
		239	if (SPI_RxDataValid)
		240	{
		241	if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
		242	{
		243	GPS_Nick = FromNaviCtrl.GPS_Nick;
		244	GPS_Roll = FromNaviCtrl.GPS_Roll;
		245	}
		246	if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;
		247	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
		248
		249	if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
		250
		251	switch (FromNaviCtrl.Command)
		252	{
		253	case SPI_KALMAN:
		254	FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0];
		255	FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1];
		256	FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2];
		257	break;
		258
		259	case SPI_CMD_OSD_DATA:
		260	FromNaviCtrl_Value.OsdBar = FromNaviCtrl.Param.Byte[0];
		261	FromNaviCtrl_Value.Distance = FromNaviCtrl.Param.Int[1];
		262	break;
		263
		264	case SPI_CMD_GPS_POS:
		265	// ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude;
		266	// ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude;
		267	break;
		268
		269	case SPI_CMD_GPS_TARGET:
		270	// ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude;
		271	// ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude;
		272	break;
		273
		274	default:
		275	break;
		276	}
		277	}
		278	else
		279	{
		280	// KompassValue = 0;
		281	// KompassRichtung = 0;
		282
		283	GPS_Nick = 0;
		284	GPS_Roll = 0;
		285	}
		286	}
		287
		288	#endif
		289
		290

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(root)/branches/KalmanFilter MikeW/FlightCtrl/V0.71h/spi.c - Rev 2751