WebSVN - FlightCtrl - Blame - Rev 1400 - /branches/V0.76g-acid/spi.c

Rev	Author	Line No.	Line
1400	acid	1	// ######################## SPI - FlightCtrl ###################
		2	#include "main.h"
		3
		4
		5	//struct str_ToNaviCtrl_Version ToNaviCtrl_Version;
		6	//struct str_FromNaviCtrl_Version FromNaviCtrl_Version;
		7	struct str_ToNaviCtrl ToNaviCtrl;
		8	struct str_FromNaviCtrl FromNaviCtrl;
		9	struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
		10	struct str_SPI_VersionInfo SPI_VersionInfo;
		11
		12	unsigned char SPI_BufferIndex;
		13	unsigned char SPI_RxBufferIndex;
		14
		15	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)];
		16	unsigned char *SPI_TX_Buffer;
		17
		18	unsigned char SPITransferCompleted, SPI_ChkSum;
		19	unsigned char SPI_RxDataValid,NaviDataOkay = 0;
		20
		21	unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION, SPI_CMD_SERVOS };
		22	unsigned char SPI_CommandCounter = 0;
		23
		24	#ifdef USE_SPI_COMMUNICATION
		25
		26	//------------------------------------------------------
		27	void SPI_MasterInit(void)
		28	{
		29	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input
		30	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);
		31
		32	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPR0)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
		33	SPSR = 0;//(1<<SPI2X);
		34
		35	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);
		36	SPITransferCompleted = 1;
		37
		38	//SPDR = 0x00; // dummy write
		39
		40	ToNaviCtrl.Sync1 = 0xAA;
		41	ToNaviCtrl.Sync2 = 0x83;
		42
		43	ToNaviCtrl.Command = SPI_CMD_USER;
		44	ToNaviCtrl.IntegralNick = 0;
		45	ToNaviCtrl.IntegralRoll = 0;
		46	FromNaviCtrl_Value.SerialDataOkay = 0;
		47	SPI_RxDataValid = 0;
		48
		49	SPI_VersionInfo.Major = VERSION_MAJOR;
		50	SPI_VersionInfo.Minor = VERSION_MINOR;
		51	SPI_VersionInfo.Patch = VERSION_PATCH;
		52	SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE;
		53	}
		54
		55	//------------------------------------------------------
		56	void SPI_StartTransmitPacket(void)
		57	{
		58	//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed
		59	if (!SPITransferCompleted) return;
		60	// _delay_us(30);
		61
		62	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
		63	SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
		64
		65	ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
		66	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
		67
		68	SPITransferCompleted = 0;
		69	UpdateSPI_Buffer(); // update buffer
		70
		71	SPI_BufferIndex = 1;
		72	//ebugOut.Analog[16]++;
		73	// -- Debug-Output ---
		74	//----
		75	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		76	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		77	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		78	ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
		79	SPDR = ToNaviCtrl.Sync1; // Start transmission
		80	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		81
		82	}
		83
		84	//------------------------------------------------------
		85	//SIGNAL(SIG_SPI)
		86	void SPI_TransmitByte(void)
		87	{
		88	static unsigned char SPI_RXState = 0;
		89	unsigned char rxdata;
		90	static unsigned char rxchksum;
		91
		92	if (SPITransferCompleted) return;
		93	if (!(SPSR & (1 << SPIF))) return;
		94	SendSPI = 4;
		95
		96	// _delay_us(30);
		97	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		98
		99	rxdata = SPDR;
		100	switch ( SPI_RXState)
		101	{
		102	case 0:
		103
		104	SPI_RxBufferIndex = 0;
		105	//DebugOut.Analog[17]++;
		106	rxchksum = rxdata;
		107	if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok
		108
		109	break;
		110
		111	case 1:
		112	if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok
		113	else SPI_RXState = 0;
		114	//DebugOut.Analog[18]++;
		115	break;
		116
		117	case 2:
		118	SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data
		119	//DebugOut.Analog[19]++;
		120	if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
		121	{
		122
		123	if (rxdata == rxchksum)
		124	{
		125	unsigned char ptr = (unsigned char )&FromNaviCtrl;
		126
		127	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));
		128
		129	SPI_RxDataValid = 1;
		130	}
		131	else SPI_RxDataValid = 0;
		132
		133	SPI_RXState = 0;
		134	}
		135	else rxchksum += rxdata;
		136	break;
		137
		138	}
		139
		140	if (SPI_BufferIndex < sizeof(ToNaviCtrl))
		141	{
		142	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
		143	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		144	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		145	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		146
		147	SPDR = SPI_TX_Buffer[SPI_BufferIndex];
		148	ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
		149	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		150
		151	}
		152	else SPITransferCompleted = 1;
		153
		154	SPI_BufferIndex++;
		155	}
		156
		157
		158	//------------------------------------------------------
		159	void UpdateSPI_Buffer(void)
		160	{
		161	signed int tmp;
		162	ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
		163	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
		164	ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
		165	ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
		166	ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
		167	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
		168	// ToNaviCtrl.User8 = Parameter_UserParam8;
		169	// ToNaviCtrl.CalState = WinkelOut.CalcState;
		170	switch(ToNaviCtrl.Command) //
		171	{
		172	case SPI_CMD_USER:
		173	ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
		174	ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
		175	ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
		176	ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
		177	ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
		178	ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
		179	ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
		180	ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
		181	ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;
		182	MikroKopterFlags &= ~(FLAG_CALIBRATE \| FLAG_START);
		183	ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;
		184	ToNaviCtrl.Param.Byte[10] =(unsigned char) BattLowVoltageWarning;
		185	ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
		186	break;
		187
		188	case SPI_CMD_PARAMETER1:
		189	ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard
		190	ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
		191	ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
		192	ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
		193	ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
		194	ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
		195	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
		196	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
		197	ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
		198	ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
		199	ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
		200	ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
		201	break;
		202
		203	case SPI_CMD_STICK:
		204	cli();
		205	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		206	ToNaviCtrl.Param.Byte[0] = (char) tmp;
		207	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		208	ToNaviCtrl.Param.Byte[1] = (char) tmp;
		209	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		210	ToNaviCtrl.Param.Byte[2] = (char) tmp;
		211	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		212	sei();
		213	ToNaviCtrl.Param.Byte[3] = (char) tmp;
		214	ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;
		215	ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;
		216	ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
		217	ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
		218	ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
		219	ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderRSSI;
		220	ToNaviCtrl.Param.Byte[10] = DebugOut.Analog[7] / 4; //GasMischanteil
		221	break;
		222	case SPI_CMD_MISC:
		223	if(WinkelOut.CalcState > 5)
		224	{
		225	WinkelOut.CalcState = 0;
		226	ToNaviCtrl.Param.Byte[0] = 5;
		227	}
		228	else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
		229	ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
		230	ToNaviCtrl.Param.Int[1] = DebugOut.Analog[5];// = HoehenWert/5;
		231	ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
		232	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
		233	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
		234	ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
		235	break;
		236
		237	case SPI_CMD_VERSION:
		238	ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;
		239	ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;
		240	ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;
		241	ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;
		242	ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
		243	break;
		244
		245	case SPI_CMD_SERVOS:
		246	ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control
		247	ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
		248	ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
		249	ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
		250	ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
		251	ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
		252	ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
		253	ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
		254	ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
		255	ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
		256	break;
		257	}
		258
		259	if(SPI_RxDataValid)
		260	{
		261	if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
		262	{
		263	GPS_Nick = FromNaviCtrl.GPS_Nick;
		264	GPS_Roll = FromNaviCtrl.GPS_Roll;
		265	NaviDataOkay = 250;
		266	}
		267	if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;
		268	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
		269
		270	if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
		271
		272	switch (FromNaviCtrl.Command)
		273	{
		274	case SPI_KALMAN:
		275	FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
		276	FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
		277	FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
		278	FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
		279	FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
		280	break;
		281
		282	default:
		283	break;
		284	}
		285	}
		286	else
		287	{
		288	// KompassValue = 0;
		289	// KompassRichtung = 0;
		290	GPS_Nick = 0;
		291	GPS_Roll = 0;
		292	}
		293	}
		294
		295	#endif
		296
		297

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