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Rev | Author | Line No. | Line |
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304 | ingob | 1 | // ######################## SPI - FlightCtrl ################### |
886 | killagreg | 2 | #include <avr/io.h> |
3 | #include <avr/interrupt.h> |
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4 | #include <string.h> |
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5 | #include <stdlib.h> |
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6 | #include "_Settings.h" |
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7 | #include "spi.h" |
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8 | #include "fc.h" |
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9 | #include "rc.h" |
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10 | #include "eeprom.h" |
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11 | #include "uart.h" |
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12 | #include "timer0.h" |
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936 | killagreg | 13 | #include "analog.h" |
304 | ingob | 14 | |
886 | killagreg | 15 | #define SPI_TXSYNCBYTE1 0xAA |
16 | #define SPI_TXSYNCBYTE2 0x83 |
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17 | #define SPI_RXSYNCBYTE1 0x81 |
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18 | #define SPI_RXSYNCBYTE2 0x55 |
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304 | ingob | 19 | |
886 | killagreg | 20 | typedef enum |
21 | { |
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22 | SPI_SYNC1, |
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23 | SPI_SYNC2, |
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24 | SPI_DATA |
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25 | } SPI_RXState_t; |
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708 | ingob | 26 | |
606 | ingob | 27 | |
886 | killagreg | 28 | // data exchange packets to and From NaviCtrl |
1078 | killagreg | 29 | ToNaviCtrl_t ToNaviCtrl; |
30 | FromNaviCtrl_t FromNaviCtrl; |
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31 | FromNaviCtrl_Value_t FromNaviCtrl_Value; |
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708 | ingob | 32 | |
1078 | killagreg | 33 | SPI_VersionInfo_t SPI_VersionInfo; |
34 | |||
886 | killagreg | 35 | // rx packet buffer |
36 | #define SPI_RXBUFFER_LEN sizeof(FromNaviCtrl) |
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37 | uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
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38 | uint8_t SPI_RxBufferIndex = 0; |
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39 | uint8_t SPI_RxBuffer_Request = 0; |
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720 | ingob | 40 | |
886 | killagreg | 41 | // tx packet buffer |
42 | #define SPI_TXBUFFER_LEN sizeof(ToNaviCtrl) |
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43 | uint8_t *SPI_TxBuffer; |
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44 | uint8_t SPI_TxBufferIndex = 0; |
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823 | ingob | 45 | |
886 | killagreg | 46 | uint8_t SPITransferCompleted, SPI_ChkSum; |
47 | uint8_t SPI_RxDataValid; |
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48 | |||
1078 | killagreg | 49 | uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
886 | killagreg | 50 | uint8_t SPI_CommandCounter = 0; |
51 | |||
52 | /*********************************************/ |
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53 | /* Initialize SPI interface to NaviCtrl */ |
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54 | /*********************************************/ |
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304 | ingob | 55 | void SPI_MasterInit(void) |
56 | { |
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886 | killagreg | 57 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
58 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
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59 | |||
60 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
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61 | SPSR = 0;//(1<<SPI2X); |
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62 | |||
63 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave |
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64 | |||
65 | SPI_TxBuffer = (uint8_t *) &ToNaviCtrl; // set pointer to tx-buffer |
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66 | SPITransferCompleted = 1; |
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67 | // initialize data packet to NaviControl |
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68 | ToNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
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69 | ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
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70 | |||
71 | ToNaviCtrl.Command = SPI_CMD_USER; |
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911 | killagreg | 72 | ToNaviCtrl.IntegralNick = 0; |
886 | killagreg | 73 | ToNaviCtrl.IntegralRoll = 0; |
1078 | killagreg | 74 | |
886 | killagreg | 75 | SPI_RxDataValid = 0; |
1078 | killagreg | 76 | |
77 | SPI_VersionInfo.Major = VERSION_MAJOR; |
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78 | SPI_VersionInfo.Minor = VERSION_MINOR; |
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79 | SPI_VersionInfo.Patch = VERSION_PATCH; |
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80 | SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
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304 | ingob | 81 | } |
82 | |||
886 | killagreg | 83 | |
84 | /**********************************************************/ |
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85 | /* Update Data transferd by the SPI from/to NaviCtrl */ |
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86 | /**********************************************************/ |
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87 | void UpdateSPI_Buffer(void) |
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304 | ingob | 88 | { |
886 | killagreg | 89 | int16_t tmp; |
90 | cli(); // stop all interrupts to avoid writing of new data during update of that packet. |
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823 | ingob | 91 | |
886 | killagreg | 92 | // update content of packet to NaviCtrl |
911 | killagreg | 93 | ToNaviCtrl.IntegralNick = (int16_t) (IntegralNick / 108); |
886 | killagreg | 94 | ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 108); |
95 | ToNaviCtrl.GyroHeading = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
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911 | killagreg | 96 | ToNaviCtrl.GyroNick = Reading_GyroNick; |
886 | killagreg | 97 | ToNaviCtrl.GyroRoll = Reading_GyroRoll; |
98 | ToNaviCtrl.GyroYaw = Reading_GyroYaw; |
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911 | killagreg | 99 | ToNaviCtrl.AccNick = (int16_t) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
1078 | killagreg | 100 | ToNaviCtrl.AccRoll = (int16_t) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
911 | killagreg | 101 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
691 | ingob | 102 | |
886 | killagreg | 103 | switch(ToNaviCtrl.Command) |
104 | { |
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105 | case SPI_CMD_USER: |
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106 | ToNaviCtrl.Param.Byte[0] = FCParam.UserParam1; |
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107 | ToNaviCtrl.Param.Byte[1] = FCParam.UserParam2; |
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108 | ToNaviCtrl.Param.Byte[2] = FCParam.UserParam3; |
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109 | ToNaviCtrl.Param.Byte[3] = FCParam.UserParam4; |
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110 | ToNaviCtrl.Param.Byte[4] = FCParam.UserParam5; |
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111 | ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6; |
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112 | ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7; |
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113 | ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8; |
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936 | killagreg | 114 | ToNaviCtrl.Param.Byte[8] = MKFlags; |
115 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting |
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116 | ToNaviCtrl.Param.Byte[9] = (uint8_t)UBat; |
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117 | ToNaviCtrl.Param.Byte[10] = ParamSet.LowVoltageWarning; |
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118 | ToNaviCtrl.Param.Byte[11] = GetActiveParamSet(); |
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886 | killagreg | 119 | break; |
120 | |||
936 | killagreg | 121 | case SPI_CMD_PARAMETER1: |
1078 | killagreg | 122 | ToNaviCtrl.Param.Byte[0] = ParamSet.NaviGpsModeControl; // Parameters for the Naviboard |
123 | ToNaviCtrl.Param.Byte[1] = ParamSet.NaviGpsGain; |
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124 | ToNaviCtrl.Param.Byte[2] = ParamSet.NaviGpsP; |
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125 | ToNaviCtrl.Param.Byte[3] = ParamSet.NaviGpsI; |
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126 | ToNaviCtrl.Param.Byte[4] = ParamSet.NaviGpsD; |
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127 | ToNaviCtrl.Param.Byte[5] = ParamSet.NaviGpsACC; |
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936 | killagreg | 128 | ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsMinSat; |
129 | ToNaviCtrl.Param.Byte[7] = ParamSet.NaviStickThreshold; |
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1078 | killagreg | 130 | ToNaviCtrl.Param.Byte[8] = ParamSet.NaviOperatingRadius; |
131 | ToNaviCtrl.Param.Byte[9] = ParamSet.NaviWindCorrection; |
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132 | ToNaviCtrl.Param.Byte[10] = ParamSet.NaviSpeedCompensation; |
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133 | ToNaviCtrl.Param.Byte[11] = ParamSet.NaviAngleLimitation; |
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936 | killagreg | 134 | break; |
135 | |||
136 | |||
886 | killagreg | 137 | case SPI_CMD_STICK: |
911 | killagreg | 138 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
886 | killagreg | 139 | ToNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
140 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
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141 | ToNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
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142 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
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143 | ToNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
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911 | killagreg | 144 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
886 | killagreg | 145 | ToNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
146 | ToNaviCtrl.Param.Byte[4] = (uint8_t) Poti1; |
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147 | ToNaviCtrl.Param.Byte[5] = (uint8_t) Poti2; |
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148 | ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3; |
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149 | ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4; |
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150 | ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
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151 | break; |
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152 | |||
1078 | killagreg | 153 | case SPI_CMD_MISC: |
154 | ToNaviCtrl.Param.Byte[0] = CompassCalState; |
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155 | if(CompassCalState > 4) |
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156 | { // jump from 5 to 0 |
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157 | CompassCalState = 0; |
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886 | killagreg | 158 | } |
1078 | killagreg | 159 | ToNaviCtrl.Param.Int[1] = ReadingHeight; |
886 | killagreg | 160 | break; |
1078 | killagreg | 161 | |
162 | case SPI_CMD_VERSION: |
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163 | ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
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164 | ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
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165 | ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
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166 | ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
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167 | break; |
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168 | |||
169 | default: |
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170 | break; |
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886 | killagreg | 171 | } |
172 | |||
173 | |||
174 | sei(); // enable all interrupts |
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175 | |||
176 | // analyze content of packet from NaviCtrl if valid |
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177 | if (SPI_RxDataValid) |
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178 | { |
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179 | // update gps controls |
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911 | killagreg | 180 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
886 | killagreg | 181 | { |
936 | killagreg | 182 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
183 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
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886 | killagreg | 184 | } |
185 | // update compass readings |
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186 | if(FromNaviCtrl.CompassHeading <= 360) |
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187 | { |
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188 | CompassHeading = FromNaviCtrl.CompassHeading; |
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189 | } |
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190 | if(CompassHeading < 0) CompassOffCourse = 0; |
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191 | else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
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192 | // NaviCtrl wants to beep? |
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193 | if (FromNaviCtrl.BeepTime > BeepTime && !CompassCalState) BeepTime = FromNaviCtrl.BeepTime; |
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194 | |||
195 | switch (FromNaviCtrl.Command) |
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196 | { |
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1078 | killagreg | 197 | case SPI_KALMAN: |
198 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0]; |
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199 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1]; |
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200 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2]; |
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201 | break; |
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202 | |||
203 | |||
886 | killagreg | 204 | case SPI_CMD_OSD_DATA: |
1078 | killagreg | 205 | FromNaviCtrl_Value.OsdBar = FromNaviCtrl.Param.Byte[0]; |
206 | FromNaviCtrl_Value.Distance = FromNaviCtrl.Param.Int[1]; |
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886 | killagreg | 207 | break; |
208 | |||
209 | case SPI_CMD_GPS_POS: |
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1078 | killagreg | 210 | //FromFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
211 | //FromFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
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886 | killagreg | 212 | break; |
213 | |||
214 | case SPI_CMD_GPS_TARGET: |
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1078 | killagreg | 215 | //FromFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
216 | //FromFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
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886 | killagreg | 217 | break; |
218 | |||
219 | default: |
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220 | break; |
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221 | } |
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222 | } |
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223 | else // no valid data from NaviCtrl |
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224 | { |
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225 | // disable GPS control |
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911 | killagreg | 226 | GPS_Nick = 0; |
886 | killagreg | 227 | GPS_Roll = 0; |
228 | } |
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304 | ingob | 229 | } |
230 | |||
886 | killagreg | 231 | |
232 | |||
233 | /*********************************************/ |
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234 | /* Start Transmission of packet to NaviCtrl */ |
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235 | /*********************************************/ |
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236 | void SPI_StartTransmitPacket(void) |
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304 | ingob | 237 | { |
708 | ingob | 238 | |
886 | killagreg | 239 | if (!SPITransferCompleted) return; // return immediately if transfer is in progress |
240 | else // transmission was completed |
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241 | { |
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242 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
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691 | ingob | 243 | |
886 | killagreg | 244 | // cyclic commands |
245 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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246 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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247 | |||
936 | killagreg | 248 | SPITransferCompleted = 0; // transfer is in progress |
886 | killagreg | 249 | UpdateSPI_Buffer(); // update data in ToNaviCtrl |
250 | |||
251 | SPI_TxBufferIndex = 1; //proceed with 2nd byte |
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252 | |||
253 | // -- Debug-Output --- |
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254 | //---- |
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255 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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256 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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257 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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258 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; // init checksum |
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259 | SPDR = ToNaviCtrl.Sync1; // send first byte |
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260 | } |
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304 | ingob | 261 | } |
262 | |||
886 | killagreg | 263 | //------------------------------------------------------ |
264 | // This is the spi data transfer between FlightCtrl and NaviCtrl |
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265 | // Every time this routine is called within the mainloop one byte of the packet to |
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266 | // the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
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691 | ingob | 267 | |
886 | killagreg | 268 | void SPI_TransmitByte(void) |
304 | ingob | 269 | { |
886 | killagreg | 270 | static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
271 | uint8_t rxdata; |
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272 | static uint8_t rxchksum; |
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823 | ingob | 273 | |
886 | killagreg | 274 | if (SPITransferCompleted) return; // return immediatly if transfer was completed |
275 | if (!(SPSR & (1 << SPIF))) return; // return if no SPI-IRQ pending |
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276 | SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
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823 | ingob | 277 | |
886 | killagreg | 278 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
823 | ingob | 279 | |
886 | killagreg | 280 | rxdata = SPDR; // save spi data register |
823 | ingob | 281 | |
886 | killagreg | 282 | switch (SPI_RXState) |
283 | { |
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284 | case SPI_SYNC1: // first sync byte |
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285 | SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
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286 | rxchksum = rxdata; // initialize checksum |
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287 | if (rxdata == SPI_RXSYNCBYTE1 ) |
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288 | { // 1st Syncbyte found |
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289 | SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
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290 | } |
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291 | break; |
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823 | ingob | 292 | |
886 | killagreg | 293 | case SPI_SYNC2: // second sync byte |
294 | if (rxdata == SPI_RXSYNCBYTE2) |
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295 | { // 2nd Syncbyte found |
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296 | rxchksum += rxdata; // update checksum |
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297 | SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
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298 | } |
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299 | else // 2nd Syncbyte not found |
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300 | { |
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301 | SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
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302 | } |
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303 | break; |
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823 | ingob | 304 | |
886 | killagreg | 305 | case SPI_DATA: // data bytes |
306 | SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
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307 | // if all bytes are received of a packet from the NaviCtrl |
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308 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) |
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309 | { // last byte transfered is the checksum of the packet |
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310 | if (rxdata == rxchksum) // checksum matching? |
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311 | { |
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312 | // copy SPI_RxBuffer -> FromFlightCtrl |
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313 | uint8_t *ptr = (uint8_t *)&FromNaviCtrl; |
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314 | cli(); |
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315 | memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(FromNaviCtrl)); |
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316 | sei(); |
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317 | SPI_RxDataValid = 1; |
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1078 | killagreg | 318 | //DebugOut.Analog[18]++; |
886 | killagreg | 319 | } |
320 | else |
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321 | { // checksum does not match |
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1078 | killagreg | 322 | //DebugOut.Analog[17]++; |
886 | killagreg | 323 | SPI_RxDataValid = 0; // reset valid flag |
324 | } |
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325 | SPI_RXState = SPI_SYNC1; // reset state sync |
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326 | } |
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327 | else // not all bytes transfered |
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328 | { |
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329 | rxchksum += rxdata; // update checksum |
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330 | } |
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331 | break; |
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332 | }// eof switch(SPI_RXState) |
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333 | |||
334 | // if still some bytes left for transmission to NaviCtrl |
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335 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) |
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336 | { |
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337 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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338 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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339 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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340 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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341 | |||
342 | SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
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343 | ToNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
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344 | SPI_TxBufferIndex++; |
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345 | } |
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346 | else |
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347 | { |
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348 | //Transfer of all bytes of the packet to NaviCtrl completed |
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349 | SPITransferCompleted = 1; |
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350 | } |
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304 | ingob | 351 | } |
352 | |||
353 | |||
354 |