WebSVN - FlightCtrl - Blame - Rev 1755 - /branches/V0.80g-Arthur-P1/spi.c

Rev	Author	Line No.	Line
1755	-	1	// ######################## SPI - FlightCtrl ###################
		2	#include "main.h"
		3	#include "eeprom.h"
		4
		5
		6	//struct str_ToNaviCtrl_Version ToNaviCtrl_Version;
		7	//struct str_FromNaviCtrl_Version FromNaviCtrl_Version;
		8	struct str_ToNaviCtrl ToNaviCtrl;
		9	struct str_FromNaviCtrl FromNaviCtrl;
		10	struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
		11	struct str_SPI_VersionInfo NC_Version;
		12	struct str_GPSInfo GPSInfo;
		13
		14	unsigned char SPI_BufferIndex;
		15	unsigned char SPI_RxBufferIndex;
		16	signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0;
		17
		18	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)];
		19	unsigned char *SPI_TX_Buffer;
		20
		21	unsigned char SPITransferCompleted, SPI_ChkSum;
		22	unsigned char SPI_RxDataValid,NaviDataOkay = 250;
		23
		24	unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU};
		25	unsigned char SPI_CommandCounter = 0;
		26	unsigned char NC_ErrorCode = 0;
		27
		28	#ifdef USE_SPI_COMMUNICATION
		29
		30	//------------------------------------------------------
		31	void SPI_MasterInit(void)
		32	{
		33	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input
		34	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);
		35
		36	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPR0)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
		37	SPSR = 0;//(1<<SPI2X);
		38
		39	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);
		40	SPITransferCompleted = 1;
		41
		42	//SPDR = 0x00; // dummy write
		43
		44	ToNaviCtrl.Sync1 = 0xAA;
		45	ToNaviCtrl.Sync2 = 0x83;
		46
		47	ToNaviCtrl.Command = SPI_FCCMD_USER;
		48	ToNaviCtrl.IntegralNick = 0;
		49	ToNaviCtrl.IntegralRoll = 0;
		50	FromNaviCtrl_Value.SerialDataOkay = 0;
		51	SPI_RxDataValid = 0;
		52
		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	rxchksum = rxdata;
		106	if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok
		107
		108	break;
		109
		110	case 1:
		111	if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok
		112	else SPI_RXState = 0;
		113	break;
		114
		115	case 2:
		116	SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data
		117	//DebugOut.Analog[19]++;
		118	if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
		119	{
		120
		121	if (rxdata == rxchksum)
		122	{
		123	unsigned char ptr = (unsigned char )&FromNaviCtrl;
		124
		125	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));
		126
		127	SPI_RxDataValid = 1;
		128	}
		129	else SPI_RxDataValid = 0;
		130
		131	SPI_RXState = 0;
		132	}
		133	else rxchksum += rxdata;
		134	break;
		135
		136	}
		137
		138	if (SPI_BufferIndex < sizeof(ToNaviCtrl))
		139	{
		140	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
		141	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		142	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		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
		145	SPDR = SPI_TX_Buffer[SPI_BufferIndex];
		146	ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
		147	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		148
		149	}
		150	else SPITransferCompleted = 1;
		151
		152	SPI_BufferIndex++;
		153	}
		154
		155
		156	//------------------------------------------------------
		157	void UpdateSPI_Buffer(void)
		158	{
		159	signed int tmp;
		160	ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
		161	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
		162	ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
		163	ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
		164	ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
		165	ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
		166	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
		167	// ToNaviCtrl.User8 = Parameter_UserParam8;
		168	// ToNaviCtrl.CalState = WinkelOut.CalcState;
		169	switch(ToNaviCtrl.Command) //
		170	{
		171	case SPI_FCCMD_USER:
		172	ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
		173	ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
		174	ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
		175	ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
		176	ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
		177	ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
		178	ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
		179	ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
		180	ToNaviCtrl.Param.Byte[8] = (unsigned char) FCFlags;
		181	FCFlags &= ~(FCFLAG_CALIBRATE \| FCFLAG_START);
		182	ToNaviCtrl.Param.Byte[9] = GetActiveParamSet();
		183	ToNaviCtrl.Param.Byte[10] = ControlHeading;
		184	break;
		185
		186	case SPI_FCCMD_ACCU:
		187	ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
		188	ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
		189	ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
		190	ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V
		191	break;
		192
		193	case SPI_FCCMD_PARAMETER1:
		194	ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard
		195	ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
		196	ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
		197	ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
		198	ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
		199	ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
		200	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
		201	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
		202	ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
		203	ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
		204	ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
		205	ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
		206	break;
		207
		208	case SPI_FCCMD_STICK:
		209	cli();
		210	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		211	ToNaviCtrl.Param.Byte[0] = (char) tmp;
		212	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		213	ToNaviCtrl.Param.Byte[1] = (char) tmp;
		214	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		215	ToNaviCtrl.Param.Byte[2] = (char) tmp;
		216	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		217	sei();
		218	ToNaviCtrl.Param.Byte[3] = (char) tmp;
		219	ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
		220	ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
		221	ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
		222	ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
		223	ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
		224	ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
		225	ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
		226	ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
		227	break;
		228	case SPI_FCCMD_MISC:
		229	if(WinkelOut.CalcState > 5)
		230	{
		231	WinkelOut.CalcState = 0;
		232	ToNaviCtrl.Param.Byte[0] = 5;
		233	}
		234	else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
		235	ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
		236	ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5);
		237	ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
		238	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
		239	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
		240	ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
		241	ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
		242	ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0];
		243	ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
		244	break;
		245	case SPI_FCCMD_VERSION:
		246	ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
		247	ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
		248	ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
		249	ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
		250	ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
		251	ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0];
		252	ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1];
		253	ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2];
		254	break;
		255	case SPI_FCCMD_SERVOS:
		256	ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control
		257	ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
		258	ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
		259	ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
		260	ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
		261	ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
		262	ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
		263	ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
		264	ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
		265	ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
		266	break;
		267	}
		268
		269	if(SPI_RxDataValid)
		270	{
		271	NaviDataOkay = 250;
		272	if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
		273	{
		274	GPS_Nick = FromNaviCtrl.GPS_Nick;
		275	GPS_Roll = FromNaviCtrl.GPS_Roll;
		276	}
		277
		278	if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;
		279	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
		280
		281	if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
		282
		283	switch (FromNaviCtrl.Command)
		284	{
		285	case SPI_NCCMD_KALMAN:
		286	FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
		287	FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
		288	FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
		289	FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
		290	FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
		291	FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
		292	FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
		293	break;
		294
		295	case SPI_NCCMD_VERSION:
		296	NC_Version.Major = FromNaviCtrl.Param.Byte[0];
		297	NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
		298	NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
		299	NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
		300	NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
		301	DebugOut.Status[0] \|= FromNaviCtrl.Param.Byte[5];
		302	NC_ErrorCode = FromNaviCtrl.Param.Byte[6];
		303	DebugOut.Status[1] = (DebugOut.Status[1] & (0x01\|0x02)) \| (FromNaviCtrl.Param.Byte[6] & (0x04 \| 0x08));
		304	break;
		305
		306	case SPI_NCCMD_GPSINFO:
		307	GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
		308	GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
		309	GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
		310	GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
		311	GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
		312	GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
		313	break;
		314
		315	default:
		316	break;
		317	}
		318	}
		319	else
		320	{
		321	// KompassValue = 0;
		322	// KompassRichtung = 0;
		323	GPS_Nick = 0;
		324	GPS_Roll = 0;
		325	}
		326	}
		327
		328	#endif
		329
		330

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