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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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708 | ingob | 31 | |
1078 | killagreg | 32 | SPI_VersionInfo_t SPI_VersionInfo; |
33 | |||
886 | killagreg | 34 | // rx packet buffer |
35 | #define SPI_RXBUFFER_LEN sizeof(FromNaviCtrl) |
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36 | uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
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37 | uint8_t SPI_RxBufferIndex = 0; |
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38 | uint8_t SPI_RxBuffer_Request = 0; |
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720 | ingob | 39 | |
886 | killagreg | 40 | // tx packet buffer |
41 | #define SPI_TXBUFFER_LEN sizeof(ToNaviCtrl) |
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42 | uint8_t *SPI_TxBuffer; |
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43 | uint8_t SPI_TxBufferIndex = 0; |
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823 | ingob | 44 | |
886 | killagreg | 45 | uint8_t SPITransferCompleted, SPI_ChkSum; |
46 | uint8_t SPI_RxDataValid; |
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47 | |||
1078 | killagreg | 48 | uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
886 | killagreg | 49 | uint8_t SPI_CommandCounter = 0; |
50 | |||
51 | /*********************************************/ |
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52 | /* Initialize SPI interface to NaviCtrl */ |
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53 | /*********************************************/ |
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304 | ingob | 54 | void SPI_MasterInit(void) |
55 | { |
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886 | killagreg | 56 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
57 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
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58 | |||
59 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
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60 | SPSR = 0;//(1<<SPI2X); |
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61 | |||
62 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave |
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63 | |||
64 | SPI_TxBuffer = (uint8_t *) &ToNaviCtrl; // set pointer to tx-buffer |
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65 | SPITransferCompleted = 1; |
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66 | // initialize data packet to NaviControl |
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67 | ToNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
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68 | ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
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69 | |||
70 | ToNaviCtrl.Command = SPI_CMD_USER; |
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911 | killagreg | 71 | ToNaviCtrl.IntegralNick = 0; |
886 | killagreg | 72 | ToNaviCtrl.IntegralRoll = 0; |
1078 | killagreg | 73 | |
886 | killagreg | 74 | SPI_RxDataValid = 0; |
1078 | killagreg | 75 | |
76 | SPI_VersionInfo.Major = VERSION_MAJOR; |
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77 | SPI_VersionInfo.Minor = VERSION_MINOR; |
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78 | SPI_VersionInfo.Patch = VERSION_PATCH; |
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79 | SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
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304 | ingob | 80 | } |
81 | |||
886 | killagreg | 82 | |
83 | /**********************************************************/ |
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84 | /* Update Data transferd by the SPI from/to NaviCtrl */ |
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85 | /**********************************************************/ |
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86 | void UpdateSPI_Buffer(void) |
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304 | ingob | 87 | { |
886 | killagreg | 88 | int16_t tmp; |
89 | cli(); // stop all interrupts to avoid writing of new data during update of that packet. |
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823 | ingob | 90 | |
886 | killagreg | 91 | // update content of packet to NaviCtrl |
1097 | killagreg | 92 | ToNaviCtrl.IntegralNick = (int16_t) (IntegralNick / 130L); // convert to multiple of 0.1° |
93 | ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 130L); // convert to multiple of 0.1° |
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886 | killagreg | 94 | ToNaviCtrl.GyroHeading = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
911 | killagreg | 95 | ToNaviCtrl.GyroNick = Reading_GyroNick; |
886 | killagreg | 96 | ToNaviCtrl.GyroRoll = Reading_GyroRoll; |
97 | ToNaviCtrl.GyroYaw = Reading_GyroYaw; |
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911 | killagreg | 98 | ToNaviCtrl.AccNick = (int16_t) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
1078 | killagreg | 99 | ToNaviCtrl.AccRoll = (int16_t) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
911 | killagreg | 100 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
691 | ingob | 101 | |
886 | killagreg | 102 | switch(ToNaviCtrl.Command) |
103 | { |
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104 | case SPI_CMD_USER: |
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105 | ToNaviCtrl.Param.Byte[0] = FCParam.UserParam1; |
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106 | ToNaviCtrl.Param.Byte[1] = FCParam.UserParam2; |
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107 | ToNaviCtrl.Param.Byte[2] = FCParam.UserParam3; |
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108 | ToNaviCtrl.Param.Byte[3] = FCParam.UserParam4; |
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109 | ToNaviCtrl.Param.Byte[4] = FCParam.UserParam5; |
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110 | ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6; |
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111 | ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7; |
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112 | ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8; |
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936 | killagreg | 113 | ToNaviCtrl.Param.Byte[8] = MKFlags; |
114 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting |
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115 | ToNaviCtrl.Param.Byte[9] = (uint8_t)UBat; |
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116 | ToNaviCtrl.Param.Byte[10] = ParamSet.LowVoltageWarning; |
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117 | ToNaviCtrl.Param.Byte[11] = GetActiveParamSet(); |
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886 | killagreg | 118 | break; |
119 | |||
936 | killagreg | 120 | case SPI_CMD_PARAMETER1: |
1078 | killagreg | 121 | ToNaviCtrl.Param.Byte[0] = ParamSet.NaviGpsModeControl; // Parameters for the Naviboard |
122 | ToNaviCtrl.Param.Byte[1] = ParamSet.NaviGpsGain; |
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123 | ToNaviCtrl.Param.Byte[2] = ParamSet.NaviGpsP; |
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124 | ToNaviCtrl.Param.Byte[3] = ParamSet.NaviGpsI; |
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125 | ToNaviCtrl.Param.Byte[4] = ParamSet.NaviGpsD; |
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126 | ToNaviCtrl.Param.Byte[5] = ParamSet.NaviGpsACC; |
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936 | killagreg | 127 | ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsMinSat; |
128 | ToNaviCtrl.Param.Byte[7] = ParamSet.NaviStickThreshold; |
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1078 | killagreg | 129 | ToNaviCtrl.Param.Byte[8] = ParamSet.NaviOperatingRadius; |
130 | ToNaviCtrl.Param.Byte[9] = ParamSet.NaviWindCorrection; |
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131 | ToNaviCtrl.Param.Byte[10] = ParamSet.NaviSpeedCompensation; |
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132 | ToNaviCtrl.Param.Byte[11] = ParamSet.NaviAngleLimitation; |
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936 | killagreg | 133 | break; |
134 | |||
135 | |||
886 | killagreg | 136 | case SPI_CMD_STICK: |
911 | killagreg | 137 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
886 | killagreg | 138 | ToNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
139 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
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140 | ToNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
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141 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
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142 | ToNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
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911 | killagreg | 143 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
886 | killagreg | 144 | ToNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
145 | ToNaviCtrl.Param.Byte[4] = (uint8_t) Poti1; |
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146 | ToNaviCtrl.Param.Byte[5] = (uint8_t) Poti2; |
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147 | ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3; |
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148 | ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4; |
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149 | ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
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150 | break; |
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151 | |||
1078 | killagreg | 152 | case SPI_CMD_MISC: |
153 | ToNaviCtrl.Param.Byte[0] = CompassCalState; |
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154 | if(CompassCalState > 4) |
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155 | { // jump from 5 to 0 |
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156 | CompassCalState = 0; |
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886 | killagreg | 157 | } |
1078 | killagreg | 158 | ToNaviCtrl.Param.Int[1] = ReadingHeight; |
886 | killagreg | 159 | break; |
1078 | killagreg | 160 | |
161 | case SPI_CMD_VERSION: |
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162 | ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
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163 | ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
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164 | ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
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165 | ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
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166 | break; |
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167 | |||
168 | default: |
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169 | break; |
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886 | killagreg | 170 | } |
171 | |||
172 | |||
173 | sei(); // enable all interrupts |
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174 | |||
175 | // analyze content of packet from NaviCtrl if valid |
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176 | if (SPI_RxDataValid) |
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177 | { |
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178 | // update gps controls |
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911 | killagreg | 179 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
886 | killagreg | 180 | { |
936 | killagreg | 181 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
182 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
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886 | killagreg | 183 | } |
184 | // update compass readings |
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185 | if(FromNaviCtrl.CompassHeading <= 360) |
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186 | { |
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187 | CompassHeading = FromNaviCtrl.CompassHeading; |
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188 | } |
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189 | if(CompassHeading < 0) CompassOffCourse = 0; |
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190 | else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
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191 | // NaviCtrl wants to beep? |
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192 | if (FromNaviCtrl.BeepTime > BeepTime && !CompassCalState) BeepTime = FromNaviCtrl.BeepTime; |
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193 | |||
194 | switch (FromNaviCtrl.Command) |
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195 | { |
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1078 | killagreg | 196 | case SPI_KALMAN: |
1080 | killagreg | 197 | FCParam.Kalman_K = FromNaviCtrl.Param.Byte[0]; |
198 | FCParam.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1]; |
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199 | FCParam.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2]; |
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1078 | killagreg | 200 | break; |
201 | |||
886 | killagreg | 202 | default: |
203 | break; |
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204 | } |
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205 | } |
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206 | else // no valid data from NaviCtrl |
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207 | { |
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208 | // disable GPS control |
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911 | killagreg | 209 | GPS_Nick = 0; |
886 | killagreg | 210 | GPS_Roll = 0; |
211 | } |
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304 | ingob | 212 | } |
213 | |||
886 | killagreg | 214 | |
215 | |||
216 | /*********************************************/ |
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217 | /* Start Transmission of packet to NaviCtrl */ |
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218 | /*********************************************/ |
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219 | void SPI_StartTransmitPacket(void) |
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304 | ingob | 220 | { |
708 | ingob | 221 | |
886 | killagreg | 222 | if (!SPITransferCompleted) return; // return immediately if transfer is in progress |
223 | else // transmission was completed |
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224 | { |
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225 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
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691 | ingob | 226 | |
886 | killagreg | 227 | // cyclic commands |
228 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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229 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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230 | |||
936 | killagreg | 231 | SPITransferCompleted = 0; // transfer is in progress |
886 | killagreg | 232 | UpdateSPI_Buffer(); // update data in ToNaviCtrl |
233 | |||
234 | SPI_TxBufferIndex = 1; //proceed with 2nd byte |
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235 | |||
236 | // -- Debug-Output --- |
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237 | //---- |
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238 | 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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239 | 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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240 | 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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241 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; // init checksum |
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242 | SPDR = ToNaviCtrl.Sync1; // send first byte |
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243 | } |
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304 | ingob | 244 | } |
245 | |||
886 | killagreg | 246 | //------------------------------------------------------ |
247 | // This is the spi data transfer between FlightCtrl and NaviCtrl |
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248 | // Every time this routine is called within the mainloop one byte of the packet to |
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249 | // the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
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691 | ingob | 250 | |
886 | killagreg | 251 | void SPI_TransmitByte(void) |
304 | ingob | 252 | { |
886 | killagreg | 253 | static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
254 | uint8_t rxdata; |
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255 | static uint8_t rxchksum; |
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823 | ingob | 256 | |
886 | killagreg | 257 | if (SPITransferCompleted) return; // return immediatly if transfer was completed |
258 | if (!(SPSR & (1 << SPIF))) return; // return if no SPI-IRQ pending |
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259 | SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
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823 | ingob | 260 | |
886 | killagreg | 261 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
823 | ingob | 262 | |
886 | killagreg | 263 | rxdata = SPDR; // save spi data register |
823 | ingob | 264 | |
886 | killagreg | 265 | switch (SPI_RXState) |
266 | { |
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267 | case SPI_SYNC1: // first sync byte |
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268 | SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
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269 | rxchksum = rxdata; // initialize checksum |
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270 | if (rxdata == SPI_RXSYNCBYTE1 ) |
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271 | { // 1st Syncbyte found |
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272 | SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
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273 | } |
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274 | break; |
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823 | ingob | 275 | |
886 | killagreg | 276 | case SPI_SYNC2: // second sync byte |
277 | if (rxdata == SPI_RXSYNCBYTE2) |
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278 | { // 2nd Syncbyte found |
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279 | rxchksum += rxdata; // update checksum |
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280 | SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
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281 | } |
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282 | else // 2nd Syncbyte not found |
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283 | { |
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284 | SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
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285 | } |
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286 | break; |
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823 | ingob | 287 | |
886 | killagreg | 288 | case SPI_DATA: // data bytes |
289 | SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
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290 | // if all bytes are received of a packet from the NaviCtrl |
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291 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) |
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292 | { // last byte transfered is the checksum of the packet |
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293 | if (rxdata == rxchksum) // checksum matching? |
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294 | { |
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295 | // copy SPI_RxBuffer -> FromFlightCtrl |
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296 | uint8_t *ptr = (uint8_t *)&FromNaviCtrl; |
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297 | cli(); |
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298 | memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(FromNaviCtrl)); |
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299 | sei(); |
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300 | SPI_RxDataValid = 1; |
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1078 | killagreg | 301 | //DebugOut.Analog[18]++; |
886 | killagreg | 302 | } |
303 | else |
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304 | { // checksum does not match |
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1078 | killagreg | 305 | //DebugOut.Analog[17]++; |
886 | killagreg | 306 | SPI_RxDataValid = 0; // reset valid flag |
307 | } |
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308 | SPI_RXState = SPI_SYNC1; // reset state sync |
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309 | } |
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310 | else // not all bytes transfered |
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311 | { |
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312 | rxchksum += rxdata; // update checksum |
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313 | } |
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314 | break; |
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315 | }// eof switch(SPI_RXState) |
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316 | |||
317 | // if still some bytes left for transmission to NaviCtrl |
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318 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) |
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319 | { |
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320 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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321 | 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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322 | 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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323 | 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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324 | |||
325 | SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
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326 | ToNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
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327 | SPI_TxBufferIndex++; |
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328 | } |
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329 | else |
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330 | { |
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331 | //Transfer of all bytes of the packet to NaviCtrl completed |
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332 | SPITransferCompleted = 1; |
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333 | } |
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304 | ingob | 334 | } |
335 | |||
336 | |||
337 |