Subversion Repositories FlightCtrl

// ######################## SPI - FlightCtrl ###################

#include "main.h"

struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;

struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;

struct str_ToNaviCtrl_Value   ToNaviCtrl_Value;

struct str_FromNaviCtrl_Value   FromNaviCtrl_Value;

unsigned char              SPI_BufferIndex;

unsigned char              SPI_RxBufferIndex;

volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl_Value)];

unsigned char *SPI_TX_Buffer, *ToNaviCtrl_Chksum;

unsigned char SPITransferCompleted, SPI_ChkSum;

#ifdef USE_SPI_COMMUNICATION

//------------------------------------------------------

void SPI_MasterInit(void)

{

  DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK);    // Set MOSI and SCK output, all others input 

  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);

  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64 

  SPSR = 0;  // SPI2X

  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);

  SPITransferCompleted = 1;

  //SPDR = 0x00;  // dummy write

  ToNaviCtrl_Value.Sync1 = 0x81;

  ToNaviCtrl_Value.Sync2 = 0x55;

  ToNaviCtrl_Value.Command = SPI_CMD_VALUE;

  ToNaviCtrl_Value.IntegralNick = 12345;

  ToNaviCtrl_Value.IntegralRoll = 56789;

  ToNaviCtrl_Value.StickNick = 100;

  ToNaviCtrl_Value.StickRoll = 150;//(char) StickRoll;

  ToNaviCtrl_Value.StickGier = 200;//(char) StickGier;

}

//------------------------------------------------------

void SPI_StartTransmitPacket(unsigned char command)

{

   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed

   if (!SPITransferCompleted) return;

   //if (!(SPSR & (1 << SPIF))) return;

   _delay_us(30);

   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave

   switch(command)

   {

     case SPI_CMD_VERSION: SPI_TX_Buffer  = (unsigned char *) &ToNaviCtrl_Version;

                                                   ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Version.Chksum;

            break;       

         case SPI_CMD_VALUE: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Value;

                             ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Value.Chksum;

            break;

   }

   SPITransferCompleted = 0;

   UpdateSPI_Buffer();                              // update buffer

   SPI_BufferIndex = 1;

  //ebugOut.Analog[16]++; 

   // -- Debug-Output ---

   //----

   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");

   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");

   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");

   SPDR = ToNaviCtrl_Value.Sync1;                  // Start transmission 

   *ToNaviCtrl_Chksum = ToNaviCtrl_Value.Sync1;

//     SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave

}

//------------------------------------------------------

//SIGNAL(SIG_SPI)

void SPI_TransmitByte(void)

{

   static unsigned char SPI_RXState = 0;

   unsigned char rxdata;

   static unsigned char rxchksum;

   if (SPITransferCompleted) return;

   if (!(SPSR & (1 << SPIF))) return;

  _delay_us(30);

  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave

  rxdata = SPDR;

  switch ( SPI_RXState)

  {

  case 0:

                        SPI_RxBufferIndex = 0;

                        //DebugOut.Analog[17]++;

                        rxchksum = rxdata;  

                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok 

           break;

   case 1:

                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok 

                 else SPI_RXState  = 0;    

                        //DebugOut.Analog[18]++;

           break;      

   case 2:

                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data

           //DebugOut.Analog[19]++;

           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl_Value))

                   {  

                if (rxdata == rxchksum)

                        {

                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl_Value;

                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));

                          DebugOut.Analog[20]++;

                        }

                        else DebugOut.Analog[21]++;

                        SPI_RXState  = 0;  

                   }

                  else rxchksum += rxdata;

        break;   

  }            

   if (SPI_BufferIndex < sizeof(ToNaviCtrl_Value))  

     {

           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave

           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");

           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");

           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");

           SPDR = SPI_TX_Buffer[SPI_BufferIndex];

           *ToNaviCtrl_Chksum += SPI_TX_Buffer[SPI_BufferIndex];

        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave

         }

         else SPITransferCompleted = 1;  

         SPI_BufferIndex++;

}

//------------------------------------------------------

void UpdateSPI_Buffer(void)

{

  static unsigned char i =0;

  cli();

  ToNaviCtrl_Value.Command = SPI_CMD_VALUE;

  ToNaviCtrl_Value.IntegralNick = (int) ( IntegralNick / 1024);

  ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024);

  ToNaviCtrl_Value.StickNick = 4;

  ToNaviCtrl_Value.StickRoll = 5;//(char) StickRoll;

  ToNaviCtrl_Value.StickGier = 6;//(char) StickGier;

  ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;

  ToNaviCtrl_Value.User1 = EE_Parameter.UserParam1;

  ToNaviCtrl_Value.User2 = EE_Parameter.UserParam2;

  ToNaviCtrl_Value.User3 = EE_Parameter.UserParam3;

  ToNaviCtrl_Value.User4 = EE_Parameter.UserParam4;

  ToNaviCtrl_Value.User5 = EE_Parameter.UserParam5;

  ToNaviCtrl_Value.User6 = EE_Parameter.UserParam6;

  ToNaviCtrl_Value.User7 = EE_Parameter.UserParam7;

  ToNaviCtrl_Value.User8 = EE_Parameter.UserParam8;

  sei();

  DebugOut.Analog[30] = FromNaviCtrl_Value.GPS_Nick;

  DebugOut.Analog[31] = FromNaviCtrl_Value.GPS_Roll;

  KompassValue = FromNaviCtrl_Value.CompassValue;

  KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;

}

#endif