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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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 | |
| 1198 | killagreg | 64 | |
| 65 | //----------------------------------------- |
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| 66 | #define DDR_SPI DDRB |
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| 67 | #define DD_SS PB4 |
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| 68 | #define DD_SCK PB7 |
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| 69 | #define DD_MOSI PB5 |
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| 70 | #define DD_MISO PB6 |
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| 71 | |||
| 72 | // for compatibility reasons gcc3.x <-> gcc4.x |
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| 73 | #ifndef SPCR |
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| 74 | #define SPCR SPCR0 |
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| 75 | #endif |
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| 76 | #ifndef SPIE |
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| 77 | #define SPIE SPIE0 |
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| 78 | #endif |
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| 79 | #ifndef SPE |
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| 80 | #define SPE SPE0 |
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| 81 | #endif |
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| 82 | #ifndef DORD |
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| 83 | #define DORD DORD0 |
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| 84 | #endif |
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| 85 | #ifndef MSTR |
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| 86 | #define MSTR MSTR0 |
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| 87 | #endif |
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| 88 | #ifndef CPOL |
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| 89 | #define CPOL CPOL0 |
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| 90 | #endif |
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| 91 | #ifndef CPHA |
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| 92 | #define CPHA CPHA0 |
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| 93 | #endif |
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| 94 | #ifndef SPR1 |
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| 95 | #define SPR1 SPR01 |
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| 96 | #endif |
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| 97 | #ifndef SPR0 |
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| 98 | #define SPR0 SPR00 |
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| 99 | #endif |
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| 100 | |||
| 101 | #ifndef SPDR |
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| 102 | #define SPDR SPDR0 |
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| 103 | #endif |
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| 104 | |||
| 105 | #ifndef SPSR |
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| 106 | #define SPSR SPSR0 |
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| 107 | #endif |
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| 108 | #ifndef SPIF |
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| 109 | #define SPIF SPIF0 |
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| 110 | #endif |
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| 111 | #ifndef WCOL |
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| 112 | #define WCOL WCOL0 |
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| 113 | #endif |
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| 114 | #ifndef SPI2X |
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| 115 | #define SPI2X SPI2X0 |
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| 116 | #endif |
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| 117 | // ------------------------- |
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| 118 | |||
| 119 | #define SLAVE_SELECT_DDR_PORT DDRC |
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| 120 | #define SLAVE_SELECT_PORT PORTC |
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| 121 | #define SPI_SLAVE_SELECT PC5 |
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| 122 | |||
| 123 | |||
| 886 | killagreg | 124 | #define SPI_TXSYNCBYTE1 0xAA |
| 125 | #define SPI_TXSYNCBYTE2 0x83 |
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| 126 | #define SPI_RXSYNCBYTE1 0x81 |
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| 127 | #define SPI_RXSYNCBYTE2 0x55 |
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| 304 | ingob | 128 | |
| 886 | killagreg | 129 | typedef enum |
| 130 | { |
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| 131 | SPI_SYNC1, |
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| 132 | SPI_SYNC2, |
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| 133 | SPI_DATA |
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| 134 | } SPI_RXState_t; |
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| 708 | ingob | 135 | |
| 606 | ingob | 136 | |
| 886 | killagreg | 137 | // data exchange packets to and From NaviCtrl |
| 1078 | killagreg | 138 | ToNaviCtrl_t ToNaviCtrl; |
| 139 | FromNaviCtrl_t FromNaviCtrl; |
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| 708 | ingob | 140 | |
| 1078 | killagreg | 141 | SPI_VersionInfo_t SPI_VersionInfo; |
| 142 | |||
| 886 | killagreg | 143 | // rx packet buffer |
| 144 | #define SPI_RXBUFFER_LEN sizeof(FromNaviCtrl) |
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| 145 | uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
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| 146 | uint8_t SPI_RxBufferIndex = 0; |
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| 147 | uint8_t SPI_RxBuffer_Request = 0; |
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| 720 | ingob | 148 | |
| 886 | killagreg | 149 | // tx packet buffer |
| 150 | #define SPI_TXBUFFER_LEN sizeof(ToNaviCtrl) |
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| 151 | uint8_t *SPI_TxBuffer; |
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| 152 | uint8_t SPI_TxBufferIndex = 0; |
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| 823 | ingob | 153 | |
| 886 | killagreg | 154 | uint8_t SPITransferCompleted, SPI_ChkSum; |
| 1222 | killagreg | 155 | uint8_t SPI_RxDataValid = 0; |
| 156 | uint8_t NCDataOkay = 0; |
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| 157 | uint8_t NCSerialDataOkay = 0; |
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| 886 | killagreg | 158 | |
| 1078 | killagreg | 159 | uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
| 886 | killagreg | 160 | uint8_t SPI_CommandCounter = 0; |
| 161 | |||
| 162 | /*********************************************/ |
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| 163 | /* Initialize SPI interface to NaviCtrl */ |
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| 164 | /*********************************************/ |
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| 304 | ingob | 165 | void SPI_MasterInit(void) |
| 166 | { |
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| 886 | killagreg | 167 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| 168 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
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| 169 | |||
| 170 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
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| 171 | SPSR = 0;//(1<<SPI2X); |
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| 172 | |||
| 173 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave |
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| 174 | |||
| 175 | SPI_TxBuffer = (uint8_t *) &ToNaviCtrl; // set pointer to tx-buffer |
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| 176 | SPITransferCompleted = 1; |
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| 177 | // initialize data packet to NaviControl |
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| 178 | ToNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
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| 179 | ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
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| 180 | |||
| 181 | ToNaviCtrl.Command = SPI_CMD_USER; |
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| 911 | killagreg | 182 | ToNaviCtrl.IntegralNick = 0; |
| 886 | killagreg | 183 | ToNaviCtrl.IntegralRoll = 0; |
| 1222 | killagreg | 184 | NCSerialDataOkay = 0; |
| 185 | NCDataOkay = 0; |
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| 1078 | killagreg | 186 | |
| 886 | killagreg | 187 | SPI_RxDataValid = 0; |
| 1078 | killagreg | 188 | |
| 189 | SPI_VersionInfo.Major = VERSION_MAJOR; |
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| 190 | SPI_VersionInfo.Minor = VERSION_MINOR; |
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| 191 | SPI_VersionInfo.Patch = VERSION_PATCH; |
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| 192 | SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
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| 304 | ingob | 193 | } |
| 194 | |||
| 886 | killagreg | 195 | |
| 196 | /**********************************************************/ |
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| 197 | /* Update Data transferd by the SPI from/to NaviCtrl */ |
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| 198 | /**********************************************************/ |
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| 199 | void UpdateSPI_Buffer(void) |
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| 304 | ingob | 200 | { |
| 886 | killagreg | 201 | int16_t tmp; |
| 202 | cli(); // stop all interrupts to avoid writing of new data during update of that packet. |
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| 823 | ingob | 203 | |
| 886 | killagreg | 204 | // update content of packet to NaviCtrl |
| 1180 | killagreg | 205 | ToNaviCtrl.IntegralNick = (int16_t)((10 * IntegralGyroNick) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
| 206 | ToNaviCtrl.IntegralRoll = (int16_t)((10 * IntegralGyroRoll) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
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| 207 | ToNaviCtrl.GyroHeading = (int16_t)((10 * YawGyroHeading) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
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| 208 | ToNaviCtrl.GyroNick = GyroNick; |
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| 209 | ToNaviCtrl.GyroRoll = GyroRoll; |
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| 210 | ToNaviCtrl.GyroYaw = GyroYaw; |
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| 211 | ToNaviCtrl.AccNick = ((int16_t) 10 * ACC_AMPLIFY * (NaviAccNick / NaviCntAcc)) / ACC_DEG_FACTOR; // convert to multiple of 0.1° |
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| 212 | ToNaviCtrl.AccRoll = ((int16_t) 10 * ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc)) / ACC_DEG_FACTOR; // convert to multiple of 0.1° |
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| 911 | killagreg | 213 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
| 691 | ingob | 214 | |
| 886 | killagreg | 215 | switch(ToNaviCtrl.Command) |
| 216 | { |
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| 217 | case SPI_CMD_USER: |
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| 218 | ToNaviCtrl.Param.Byte[0] = FCParam.UserParam1; |
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| 219 | ToNaviCtrl.Param.Byte[1] = FCParam.UserParam2; |
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| 220 | ToNaviCtrl.Param.Byte[2] = FCParam.UserParam3; |
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| 221 | ToNaviCtrl.Param.Byte[3] = FCParam.UserParam4; |
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| 222 | ToNaviCtrl.Param.Byte[4] = FCParam.UserParam5; |
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| 223 | ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6; |
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| 224 | ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7; |
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| 225 | ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8; |
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| 936 | killagreg | 226 | ToNaviCtrl.Param.Byte[8] = MKFlags; |
| 227 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting |
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| 228 | ToNaviCtrl.Param.Byte[9] = (uint8_t)UBat; |
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| 229 | ToNaviCtrl.Param.Byte[10] = ParamSet.LowVoltageWarning; |
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| 230 | ToNaviCtrl.Param.Byte[11] = GetActiveParamSet(); |
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| 886 | killagreg | 231 | break; |
| 232 | |||
| 936 | killagreg | 233 | case SPI_CMD_PARAMETER1: |
| 1078 | killagreg | 234 | ToNaviCtrl.Param.Byte[0] = ParamSet.NaviGpsModeControl; // Parameters for the Naviboard |
| 235 | ToNaviCtrl.Param.Byte[1] = ParamSet.NaviGpsGain; |
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| 236 | ToNaviCtrl.Param.Byte[2] = ParamSet.NaviGpsP; |
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| 237 | ToNaviCtrl.Param.Byte[3] = ParamSet.NaviGpsI; |
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| 238 | ToNaviCtrl.Param.Byte[4] = ParamSet.NaviGpsD; |
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| 239 | ToNaviCtrl.Param.Byte[5] = ParamSet.NaviGpsACC; |
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| 936 | killagreg | 240 | ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsMinSat; |
| 241 | ToNaviCtrl.Param.Byte[7] = ParamSet.NaviStickThreshold; |
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| 1078 | killagreg | 242 | ToNaviCtrl.Param.Byte[8] = ParamSet.NaviOperatingRadius; |
| 243 | ToNaviCtrl.Param.Byte[9] = ParamSet.NaviWindCorrection; |
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| 244 | ToNaviCtrl.Param.Byte[10] = ParamSet.NaviSpeedCompensation; |
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| 245 | ToNaviCtrl.Param.Byte[11] = ParamSet.NaviAngleLimitation; |
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| 936 | killagreg | 246 | break; |
| 247 | |||
| 248 | |||
| 886 | killagreg | 249 | case SPI_CMD_STICK: |
| 911 | killagreg | 250 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| 886 | killagreg | 251 | ToNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
| 252 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
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| 253 | ToNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
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| 254 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
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| 255 | ToNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
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| 911 | killagreg | 256 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| 886 | killagreg | 257 | ToNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
| 258 | ToNaviCtrl.Param.Byte[4] = (uint8_t) Poti1; |
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| 259 | ToNaviCtrl.Param.Byte[5] = (uint8_t) Poti2; |
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| 260 | ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3; |
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| 261 | ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4; |
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| 262 | ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
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| 263 | break; |
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| 264 | |||
| 1078 | killagreg | 265 | case SPI_CMD_MISC: |
| 266 | ToNaviCtrl.Param.Byte[0] = CompassCalState; |
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| 267 | if(CompassCalState > 4) |
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| 268 | { // jump from 5 to 0 |
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| 269 | CompassCalState = 0; |
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| 886 | killagreg | 270 | } |
| 1180 | killagreg | 271 | ToNaviCtrl.Param.Byte[1] = ParamSet.NaviPHLoginTime; |
| 272 | ToNaviCtrl.Param.Int[1] = ReadingHeight; // at address of Byte 2 and 3 |
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| 273 | ToNaviCtrl.Param.Byte[4] = ParamSet.NaviGpsPLimit; |
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| 274 | ToNaviCtrl.Param.Byte[5] = ParamSet.NaviGpsILimit; |
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| 275 | ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsDLimit; |
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| 886 | killagreg | 276 | break; |
| 1078 | killagreg | 277 | |
| 278 | case SPI_CMD_VERSION: |
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| 279 | ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
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| 280 | ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
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| 281 | ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
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| 282 | ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
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| 1180 | killagreg | 283 | ToNaviCtrl.Param.Byte[4] = BoardRelease; |
| 1078 | killagreg | 284 | break; |
| 285 | |||
| 286 | default: |
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| 287 | break; |
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| 886 | killagreg | 288 | } |
| 289 | |||
| 290 | |||
| 291 | sei(); // enable all interrupts |
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| 292 | |||
| 293 | // analyze content of packet from NaviCtrl if valid |
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| 294 | if (SPI_RxDataValid) |
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| 295 | { |
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| 296 | // update gps controls |
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| 1180 | killagreg | 297 | if(abs(FromNaviCtrl.GPSStickNick) < 512 && abs(FromNaviCtrl.GPSStickRoll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
| 886 | killagreg | 298 | { |
| 1180 | killagreg | 299 | GPSStickNick = FromNaviCtrl.GPSStickNick; |
| 300 | GPSStickRoll = FromNaviCtrl.GPSStickRoll; |
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| 1222 | killagreg | 301 | NCDataOkay = 250; |
| 886 | killagreg | 302 | } |
| 303 | // update compass readings |
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| 304 | if(FromNaviCtrl.CompassHeading <= 360) |
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| 305 | { |
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| 306 | CompassHeading = FromNaviCtrl.CompassHeading; |
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| 307 | } |
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| 308 | if(CompassHeading < 0) CompassOffCourse = 0; |
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| 309 | else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
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| 310 | // NaviCtrl wants to beep? |
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| 311 | if (FromNaviCtrl.BeepTime > BeepTime && !CompassCalState) BeepTime = FromNaviCtrl.BeepTime; |
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| 312 | |||
| 313 | switch (FromNaviCtrl.Command) |
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| 314 | { |
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| 1078 | killagreg | 315 | case SPI_KALMAN: |
| 1180 | killagreg | 316 | FCParam.KalmanK = FromNaviCtrl.Param.Byte[0]; |
| 317 | FCParam.KalmanMaxFusion = FromNaviCtrl.Param.Byte[1]; |
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| 318 | FCParam.KalmanMaxDrift = FromNaviCtrl.Param.Byte[2]; |
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| 1222 | killagreg | 319 | NCSerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
| 320 | DebugOut.Analog[29] = NCSerialDataOkay; |
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| 1078 | killagreg | 321 | break; |
| 322 | |||
| 886 | killagreg | 323 | default: |
| 324 | break; |
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| 325 | } |
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| 326 | } |
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| 327 | else // no valid data from NaviCtrl |
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| 328 | { |
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| 329 | // disable GPS control |
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| 1180 | killagreg | 330 | GPSStickNick = 0; |
| 331 | GPSStickRoll = 0; |
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| 886 | killagreg | 332 | } |
| 304 | ingob | 333 | } |
| 334 | |||
| 886 | killagreg | 335 | |
| 336 | |||
| 337 | /*********************************************/ |
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| 338 | /* Start Transmission of packet to NaviCtrl */ |
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| 339 | /*********************************************/ |
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| 340 | void SPI_StartTransmitPacket(void) |
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| 304 | ingob | 341 | { |
| 708 | ingob | 342 | |
| 886 | killagreg | 343 | if (!SPITransferCompleted) return; // return immediately if transfer is in progress |
| 344 | else // transmission was completed |
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| 345 | { |
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| 346 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
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| 691 | ingob | 347 | |
| 886 | killagreg | 348 | // cyclic commands |
| 349 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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| 350 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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| 351 | |||
| 936 | killagreg | 352 | SPITransferCompleted = 0; // transfer is in progress |
| 886 | killagreg | 353 | UpdateSPI_Buffer(); // update data in ToNaviCtrl |
| 354 | |||
| 355 | SPI_TxBufferIndex = 1; //proceed with 2nd byte |
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| 356 | |||
| 357 | // -- Debug-Output --- |
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| 358 | //---- |
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| 359 | 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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| 360 | 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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| 361 | 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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| 362 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; // init checksum |
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| 363 | SPDR = ToNaviCtrl.Sync1; // send first byte |
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| 364 | } |
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| 304 | ingob | 365 | } |
| 366 | |||
| 886 | killagreg | 367 | //------------------------------------------------------ |
| 368 | // This is the spi data transfer between FlightCtrl and NaviCtrl |
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| 369 | // Every time this routine is called within the mainloop one byte of the packet to |
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| 370 | // the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
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| 691 | ingob | 371 | |
| 886 | killagreg | 372 | void SPI_TransmitByte(void) |
| 304 | ingob | 373 | { |
| 886 | killagreg | 374 | static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
| 375 | uint8_t rxdata; |
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| 376 | static uint8_t rxchksum; |
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| 823 | ingob | 377 | |
| 886 | killagreg | 378 | if (SPITransferCompleted) return; // return immediatly if transfer was completed |
| 379 | if (!(SPSR & (1 << SPIF))) return; // return if no SPI-IRQ pending |
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| 380 | SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
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| 823 | ingob | 381 | |
| 886 | killagreg | 382 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| 823 | ingob | 383 | |
| 886 | killagreg | 384 | rxdata = SPDR; // save spi data register |
| 823 | ingob | 385 | |
| 886 | killagreg | 386 | switch (SPI_RXState) |
| 387 | { |
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| 388 | case SPI_SYNC1: // first sync byte |
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| 389 | SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
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| 390 | rxchksum = rxdata; // initialize checksum |
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| 391 | if (rxdata == SPI_RXSYNCBYTE1 ) |
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| 392 | { // 1st Syncbyte found |
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| 393 | SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
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| 394 | } |
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| 395 | break; |
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| 823 | ingob | 396 | |
| 886 | killagreg | 397 | case SPI_SYNC2: // second sync byte |
| 398 | if (rxdata == SPI_RXSYNCBYTE2) |
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| 399 | { // 2nd Syncbyte found |
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| 400 | rxchksum += rxdata; // update checksum |
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| 401 | SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
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| 402 | } |
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| 403 | else // 2nd Syncbyte not found |
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| 404 | { |
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| 405 | SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
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| 406 | } |
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| 407 | break; |
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| 823 | ingob | 408 | |
| 886 | killagreg | 409 | case SPI_DATA: // data bytes |
| 410 | SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
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| 411 | // if all bytes are received of a packet from the NaviCtrl |
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| 412 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) |
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| 413 | { // last byte transfered is the checksum of the packet |
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| 414 | if (rxdata == rxchksum) // checksum matching? |
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| 415 | { |
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| 416 | // copy SPI_RxBuffer -> FromFlightCtrl |
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| 417 | uint8_t *ptr = (uint8_t *)&FromNaviCtrl; |
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| 418 | cli(); |
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| 419 | memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(FromNaviCtrl)); |
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| 420 | sei(); |
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| 421 | SPI_RxDataValid = 1; |
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| 1078 | killagreg | 422 | //DebugOut.Analog[18]++; |
| 886 | killagreg | 423 | } |
| 424 | else |
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| 425 | { // checksum does not match |
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| 1078 | killagreg | 426 | //DebugOut.Analog[17]++; |
| 886 | killagreg | 427 | SPI_RxDataValid = 0; // reset valid flag |
| 428 | } |
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| 429 | SPI_RXState = SPI_SYNC1; // reset state sync |
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| 430 | } |
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| 431 | else // not all bytes transfered |
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| 432 | { |
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| 433 | rxchksum += rxdata; // update checksum |
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| 434 | } |
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| 435 | break; |
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| 436 | }// eof switch(SPI_RXState) |
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| 437 | |||
| 438 | // if still some bytes left for transmission to NaviCtrl |
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| 439 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) |
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| 440 | { |
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| 441 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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| 442 | 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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| 443 | 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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| 444 | 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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| 445 | |||
| 446 | SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
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| 447 | ToNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
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| 448 | SPI_TxBufferIndex++; |
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| 449 | } |
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| 450 | else |
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| 451 | { |
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| 452 | //Transfer of all bytes of the packet to NaviCtrl completed |
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| 453 | SPITransferCompleted = 1; |
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| 454 | } |
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| 304 | ingob | 455 | } |
| 456 | |||
| 457 | |||
| 458 |