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Rev | Author | Line No. | Line |
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1180 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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25 | // + mit unserer Zustimmung zulässig |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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36 | // + with our written permission |
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37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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49 | // + POSSIBILITY OF SUCH DAMAGE. |
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50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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886 | killagreg | 51 | #include <avr/io.h> |
52 | #include <avr/interrupt.h> |
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53 | #include <string.h> |
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54 | #include <stdlib.h> |
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1180 | killagreg | 55 | #include "main.h" |
886 | killagreg | 56 | #include "spi.h" |
57 | #include "fc.h" |
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58 | #include "rc.h" |
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59 | #include "eeprom.h" |
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1180 | killagreg | 60 | #include "uart0.h" |
886 | killagreg | 61 | #include "timer0.h" |
936 | killagreg | 62 | #include "analog.h" |
304 | ingob | 63 | |
886 | killagreg | 64 | #define SPI_TXSYNCBYTE1 0xAA |
65 | #define SPI_TXSYNCBYTE2 0x83 |
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66 | #define SPI_RXSYNCBYTE1 0x81 |
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67 | #define SPI_RXSYNCBYTE2 0x55 |
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304 | ingob | 68 | |
886 | killagreg | 69 | typedef enum |
70 | { |
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71 | SPI_SYNC1, |
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72 | SPI_SYNC2, |
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73 | SPI_DATA |
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74 | } SPI_RXState_t; |
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708 | ingob | 75 | |
606 | ingob | 76 | |
886 | killagreg | 77 | // data exchange packets to and From NaviCtrl |
1078 | killagreg | 78 | ToNaviCtrl_t ToNaviCtrl; |
79 | FromNaviCtrl_t FromNaviCtrl; |
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708 | ingob | 80 | |
1078 | killagreg | 81 | SPI_VersionInfo_t SPI_VersionInfo; |
82 | |||
886 | killagreg | 83 | // rx packet buffer |
84 | #define SPI_RXBUFFER_LEN sizeof(FromNaviCtrl) |
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85 | uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
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86 | uint8_t SPI_RxBufferIndex = 0; |
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87 | uint8_t SPI_RxBuffer_Request = 0; |
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720 | ingob | 88 | |
886 | killagreg | 89 | // tx packet buffer |
90 | #define SPI_TXBUFFER_LEN sizeof(ToNaviCtrl) |
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91 | uint8_t *SPI_TxBuffer; |
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92 | uint8_t SPI_TxBufferIndex = 0; |
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823 | ingob | 93 | |
886 | killagreg | 94 | uint8_t SPITransferCompleted, SPI_ChkSum; |
95 | uint8_t SPI_RxDataValid; |
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96 | |||
1078 | killagreg | 97 | uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
886 | killagreg | 98 | uint8_t SPI_CommandCounter = 0; |
99 | |||
100 | /*********************************************/ |
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101 | /* Initialize SPI interface to NaviCtrl */ |
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102 | /*********************************************/ |
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304 | ingob | 103 | void SPI_MasterInit(void) |
104 | { |
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886 | killagreg | 105 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
106 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
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107 | |||
108 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
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109 | SPSR = 0;//(1<<SPI2X); |
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110 | |||
111 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave |
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112 | |||
113 | SPI_TxBuffer = (uint8_t *) &ToNaviCtrl; // set pointer to tx-buffer |
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114 | SPITransferCompleted = 1; |
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115 | // initialize data packet to NaviControl |
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116 | ToNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
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117 | ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
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118 | |||
119 | ToNaviCtrl.Command = SPI_CMD_USER; |
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911 | killagreg | 120 | ToNaviCtrl.IntegralNick = 0; |
886 | killagreg | 121 | ToNaviCtrl.IntegralRoll = 0; |
1078 | killagreg | 122 | |
886 | killagreg | 123 | SPI_RxDataValid = 0; |
1078 | killagreg | 124 | |
125 | SPI_VersionInfo.Major = VERSION_MAJOR; |
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126 | SPI_VersionInfo.Minor = VERSION_MINOR; |
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127 | SPI_VersionInfo.Patch = VERSION_PATCH; |
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128 | SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
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304 | ingob | 129 | } |
130 | |||
886 | killagreg | 131 | |
132 | /**********************************************************/ |
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133 | /* Update Data transferd by the SPI from/to NaviCtrl */ |
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134 | /**********************************************************/ |
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135 | void UpdateSPI_Buffer(void) |
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304 | ingob | 136 | { |
886 | killagreg | 137 | int16_t tmp; |
138 | cli(); // stop all interrupts to avoid writing of new data during update of that packet. |
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823 | ingob | 139 | |
886 | killagreg | 140 | // update content of packet to NaviCtrl |
1180 | killagreg | 141 | ToNaviCtrl.IntegralNick = (int16_t)((10 * IntegralGyroNick) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
142 | ToNaviCtrl.IntegralRoll = (int16_t)((10 * IntegralGyroRoll) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
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143 | ToNaviCtrl.GyroHeading = (int16_t)((10 * YawGyroHeading) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
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144 | ToNaviCtrl.GyroNick = GyroNick; |
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145 | ToNaviCtrl.GyroRoll = GyroRoll; |
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146 | ToNaviCtrl.GyroYaw = GyroYaw; |
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147 | ToNaviCtrl.AccNick = ((int16_t) 10 * ACC_AMPLIFY * (NaviAccNick / NaviCntAcc)) / ACC_DEG_FACTOR; // convert to multiple of 0.1° |
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148 | ToNaviCtrl.AccRoll = ((int16_t) 10 * ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc)) / ACC_DEG_FACTOR; // convert to multiple of 0.1° |
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911 | killagreg | 149 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
691 | ingob | 150 | |
886 | killagreg | 151 | switch(ToNaviCtrl.Command) |
152 | { |
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153 | case SPI_CMD_USER: |
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154 | ToNaviCtrl.Param.Byte[0] = FCParam.UserParam1; |
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155 | ToNaviCtrl.Param.Byte[1] = FCParam.UserParam2; |
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156 | ToNaviCtrl.Param.Byte[2] = FCParam.UserParam3; |
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157 | ToNaviCtrl.Param.Byte[3] = FCParam.UserParam4; |
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158 | ToNaviCtrl.Param.Byte[4] = FCParam.UserParam5; |
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159 | ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6; |
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160 | ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7; |
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161 | ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8; |
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936 | killagreg | 162 | ToNaviCtrl.Param.Byte[8] = MKFlags; |
163 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting |
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164 | ToNaviCtrl.Param.Byte[9] = (uint8_t)UBat; |
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165 | ToNaviCtrl.Param.Byte[10] = ParamSet.LowVoltageWarning; |
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166 | ToNaviCtrl.Param.Byte[11] = GetActiveParamSet(); |
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886 | killagreg | 167 | break; |
168 | |||
936 | killagreg | 169 | case SPI_CMD_PARAMETER1: |
1078 | killagreg | 170 | ToNaviCtrl.Param.Byte[0] = ParamSet.NaviGpsModeControl; // Parameters for the Naviboard |
171 | ToNaviCtrl.Param.Byte[1] = ParamSet.NaviGpsGain; |
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172 | ToNaviCtrl.Param.Byte[2] = ParamSet.NaviGpsP; |
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173 | ToNaviCtrl.Param.Byte[3] = ParamSet.NaviGpsI; |
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174 | ToNaviCtrl.Param.Byte[4] = ParamSet.NaviGpsD; |
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175 | ToNaviCtrl.Param.Byte[5] = ParamSet.NaviGpsACC; |
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936 | killagreg | 176 | ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsMinSat; |
177 | ToNaviCtrl.Param.Byte[7] = ParamSet.NaviStickThreshold; |
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1078 | killagreg | 178 | ToNaviCtrl.Param.Byte[8] = ParamSet.NaviOperatingRadius; |
179 | ToNaviCtrl.Param.Byte[9] = ParamSet.NaviWindCorrection; |
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180 | ToNaviCtrl.Param.Byte[10] = ParamSet.NaviSpeedCompensation; |
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181 | ToNaviCtrl.Param.Byte[11] = ParamSet.NaviAngleLimitation; |
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936 | killagreg | 182 | break; |
183 | |||
184 | |||
886 | killagreg | 185 | case SPI_CMD_STICK: |
911 | killagreg | 186 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
886 | killagreg | 187 | ToNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
188 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
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189 | ToNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
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190 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
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191 | ToNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
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911 | killagreg | 192 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
886 | killagreg | 193 | ToNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
194 | ToNaviCtrl.Param.Byte[4] = (uint8_t) Poti1; |
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195 | ToNaviCtrl.Param.Byte[5] = (uint8_t) Poti2; |
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196 | ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3; |
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197 | ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4; |
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198 | ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
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199 | break; |
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200 | |||
1078 | killagreg | 201 | case SPI_CMD_MISC: |
202 | ToNaviCtrl.Param.Byte[0] = CompassCalState; |
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203 | if(CompassCalState > 4) |
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204 | { // jump from 5 to 0 |
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205 | CompassCalState = 0; |
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886 | killagreg | 206 | } |
1180 | killagreg | 207 | ToNaviCtrl.Param.Byte[1] = ParamSet.NaviPHLoginTime; |
208 | ToNaviCtrl.Param.Int[1] = ReadingHeight; // at address of Byte 2 and 3 |
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209 | ToNaviCtrl.Param.Byte[4] = ParamSet.NaviGpsPLimit; |
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210 | ToNaviCtrl.Param.Byte[5] = ParamSet.NaviGpsILimit; |
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211 | ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsDLimit; |
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886 | killagreg | 212 | break; |
1078 | killagreg | 213 | |
214 | case SPI_CMD_VERSION: |
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215 | ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
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216 | ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
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217 | ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
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218 | ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
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1180 | killagreg | 219 | ToNaviCtrl.Param.Byte[4] = BoardRelease; |
1078 | killagreg | 220 | break; |
221 | |||
222 | default: |
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223 | break; |
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886 | killagreg | 224 | } |
225 | |||
226 | |||
227 | sei(); // enable all interrupts |
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228 | |||
229 | // analyze content of packet from NaviCtrl if valid |
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230 | if (SPI_RxDataValid) |
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231 | { |
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232 | // update gps controls |
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1180 | killagreg | 233 | if(abs(FromNaviCtrl.GPSStickNick) < 512 && abs(FromNaviCtrl.GPSStickRoll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
886 | killagreg | 234 | { |
1180 | killagreg | 235 | GPSStickNick = FromNaviCtrl.GPSStickNick; |
236 | GPSStickRoll = FromNaviCtrl.GPSStickRoll; |
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886 | killagreg | 237 | } |
238 | // update compass readings |
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239 | if(FromNaviCtrl.CompassHeading <= 360) |
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240 | { |
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241 | CompassHeading = FromNaviCtrl.CompassHeading; |
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242 | } |
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243 | if(CompassHeading < 0) CompassOffCourse = 0; |
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244 | else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
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245 | // NaviCtrl wants to beep? |
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246 | if (FromNaviCtrl.BeepTime > BeepTime && !CompassCalState) BeepTime = FromNaviCtrl.BeepTime; |
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247 | |||
248 | switch (FromNaviCtrl.Command) |
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249 | { |
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1078 | killagreg | 250 | case SPI_KALMAN: |
1180 | killagreg | 251 | FCParam.KalmanK = FromNaviCtrl.Param.Byte[0]; |
252 | FCParam.KalmanMaxFusion = FromNaviCtrl.Param.Byte[1]; |
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253 | FCParam.KalmanMaxDrift = FromNaviCtrl.Param.Byte[2]; |
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1078 | killagreg | 254 | break; |
255 | |||
886 | killagreg | 256 | default: |
257 | break; |
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258 | } |
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259 | } |
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260 | else // no valid data from NaviCtrl |
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261 | { |
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262 | // disable GPS control |
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1180 | killagreg | 263 | GPSStickNick = 0; |
264 | GPSStickRoll = 0; |
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886 | killagreg | 265 | } |
304 | ingob | 266 | } |
267 | |||
886 | killagreg | 268 | |
269 | |||
270 | /*********************************************/ |
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271 | /* Start Transmission of packet to NaviCtrl */ |
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272 | /*********************************************/ |
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273 | void SPI_StartTransmitPacket(void) |
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304 | ingob | 274 | { |
708 | ingob | 275 | |
886 | killagreg | 276 | if (!SPITransferCompleted) return; // return immediately if transfer is in progress |
277 | else // transmission was completed |
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278 | { |
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279 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
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691 | ingob | 280 | |
886 | killagreg | 281 | // cyclic commands |
282 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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283 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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284 | |||
936 | killagreg | 285 | SPITransferCompleted = 0; // transfer is in progress |
886 | killagreg | 286 | UpdateSPI_Buffer(); // update data in ToNaviCtrl |
287 | |||
288 | SPI_TxBufferIndex = 1; //proceed with 2nd byte |
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289 | |||
290 | // -- Debug-Output --- |
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291 | //---- |
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292 | 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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293 | 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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294 | 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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295 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; // init checksum |
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296 | SPDR = ToNaviCtrl.Sync1; // send first byte |
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297 | } |
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304 | ingob | 298 | } |
299 | |||
886 | killagreg | 300 | //------------------------------------------------------ |
301 | // This is the spi data transfer between FlightCtrl and NaviCtrl |
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302 | // Every time this routine is called within the mainloop one byte of the packet to |
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303 | // the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
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691 | ingob | 304 | |
886 | killagreg | 305 | void SPI_TransmitByte(void) |
304 | ingob | 306 | { |
886 | killagreg | 307 | static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
308 | uint8_t rxdata; |
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309 | static uint8_t rxchksum; |
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823 | ingob | 310 | |
886 | killagreg | 311 | if (SPITransferCompleted) return; // return immediatly if transfer was completed |
312 | if (!(SPSR & (1 << SPIF))) return; // return if no SPI-IRQ pending |
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313 | SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
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823 | ingob | 314 | |
886 | killagreg | 315 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
823 | ingob | 316 | |
886 | killagreg | 317 | rxdata = SPDR; // save spi data register |
823 | ingob | 318 | |
886 | killagreg | 319 | switch (SPI_RXState) |
320 | { |
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321 | case SPI_SYNC1: // first sync byte |
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322 | SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
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323 | rxchksum = rxdata; // initialize checksum |
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324 | if (rxdata == SPI_RXSYNCBYTE1 ) |
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325 | { // 1st Syncbyte found |
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326 | SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
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327 | } |
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328 | break; |
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823 | ingob | 329 | |
886 | killagreg | 330 | case SPI_SYNC2: // second sync byte |
331 | if (rxdata == SPI_RXSYNCBYTE2) |
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332 | { // 2nd Syncbyte found |
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333 | rxchksum += rxdata; // update checksum |
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334 | SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
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335 | } |
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336 | else // 2nd Syncbyte not found |
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337 | { |
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338 | SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
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339 | } |
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340 | break; |
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823 | ingob | 341 | |
886 | killagreg | 342 | case SPI_DATA: // data bytes |
343 | SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
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344 | // if all bytes are received of a packet from the NaviCtrl |
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345 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) |
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346 | { // last byte transfered is the checksum of the packet |
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347 | if (rxdata == rxchksum) // checksum matching? |
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348 | { |
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349 | // copy SPI_RxBuffer -> FromFlightCtrl |
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350 | uint8_t *ptr = (uint8_t *)&FromNaviCtrl; |
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351 | cli(); |
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352 | memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(FromNaviCtrl)); |
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353 | sei(); |
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354 | SPI_RxDataValid = 1; |
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1078 | killagreg | 355 | //DebugOut.Analog[18]++; |
886 | killagreg | 356 | } |
357 | else |
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358 | { // checksum does not match |
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1078 | killagreg | 359 | //DebugOut.Analog[17]++; |
886 | killagreg | 360 | SPI_RxDataValid = 0; // reset valid flag |
361 | } |
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362 | SPI_RXState = SPI_SYNC1; // reset state sync |
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363 | } |
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364 | else // not all bytes transfered |
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365 | { |
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366 | rxchksum += rxdata; // update checksum |
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367 | } |
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368 | break; |
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369 | }// eof switch(SPI_RXState) |
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370 | |||
371 | // if still some bytes left for transmission to NaviCtrl |
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372 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) |
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373 | { |
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374 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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375 | 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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376 | 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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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"); |
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378 | |||
379 | SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
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380 | ToNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
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381 | SPI_TxBufferIndex++; |
||
382 | } |
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383 | else |
||
384 | { |
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385 | //Transfer of all bytes of the packet to NaviCtrl completed |
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386 | SPITransferCompleted = 1; |
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387 | } |
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304 | ingob | 388 | } |
389 | |||
390 | |||
391 |