Subversion Repositories FlightCtrl

// ######################## 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;

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;

  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] = Parameter_GlobalConfig;

                                ToNaviCtrl.Param.Byte[8] = Parameter_ExtraConfig;

                                ToNaviCtrl.Param.Byte[9] = motorindex;

                                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

                                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];

                        ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3];

                        ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4];

                        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)

  {

        NaviDataOkay = 250;

        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];

                        // = 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];

                        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