Subversion Repositories FlightCtrl

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304 ingob 1
// ######################## SPI - FlightCtrl ###################
2
#include "main.h"
3
 
4
 
823 ingob 5
//struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
6
//struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
7
struct str_ToNaviCtrl   ToNaviCtrl;
8
struct str_FromNaviCtrl   FromNaviCtrl;
978 hbuss 9
struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
1448 killagreg 10
struct str_SPI_VersionInfo NC_Version;
708 ingob 11
 
304 ingob 12
unsigned char              SPI_BufferIndex;
708 ingob 13
unsigned char              SPI_RxBufferIndex;
606 ingob 14
 
882 hbuss 15
volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
823 ingob 16
unsigned char *SPI_TX_Buffer;
708 ingob 17
 
617 ingob 18
unsigned char SPITransferCompleted, SPI_ChkSum;
1215 hbuss 19
unsigned char SPI_RxDataValid,NaviDataOkay = 0;
720 ingob 20
 
1448 killagreg 21
unsigned char SPI_CommandSequence[] = { SPI_FCCMD_USER, SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_SERVOS };
823 ingob 22
unsigned char SPI_CommandCounter = 0;
23
 
597 ingob 24
#ifdef USE_SPI_COMMUNICATION
691 ingob 25
 
304 ingob 26
//------------------------------------------------------
27
void SPI_MasterInit(void)
28
{
1051 killagreg 29
  DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK);    // Set MOSI and SCK output, all others input
304 ingob 30
  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
1051 killagreg 31
 
32
  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64
723 hbuss 33
  SPSR = 0;//(1<<SPI2X);
1051 killagreg 34
 
35
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
606 ingob 36
  SPITransferCompleted = 1;
1051 killagreg 37
 
708 ingob 38
  //SPDR = 0x00;  // dummy write
1051 killagreg 39
 
823 ingob 40
  ToNaviCtrl.Sync1 = 0xAA;
41
  ToNaviCtrl.Sync2 = 0x83;
1051 killagreg 42
 
1448 killagreg 43
  ToNaviCtrl.Command = SPI_FCCMD_USER;
823 ingob 44
  ToNaviCtrl.IntegralNick = 0;
45
  ToNaviCtrl.IntegralRoll = 0;
1215 hbuss 46
  FromNaviCtrl_Value.SerialDataOkay = 0;
1051 killagreg 47
  SPI_RxDataValid = 0;
48
 
304 ingob 49
}
50
 
51
//------------------------------------------------------
823 ingob 52
void SPI_StartTransmitPacket(void)
304 ingob 53
{
606 ingob 54
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
55
   if (!SPITransferCompleted) return;
1051 killagreg 56
//   _delay_us(30);
57
 
304 ingob 58
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
823 ingob 59
   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
1051 killagreg 60
 
823 ingob 61
   ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
62
   if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1051 killagreg 63
 
606 ingob 64
   SPITransferCompleted = 0;
304 ingob 65
   UpdateSPI_Buffer();                              // update buffer
823 ingob 66
 
304 ingob 67
   SPI_BufferIndex = 1;
1051 killagreg 68
  //ebugOut.Analog[16]++;
304 ingob 69
   // -- Debug-Output ---
70
   //----
691 ingob 71
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
72
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
73
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
823 ingob 74
   ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
1051 killagreg 75
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
691 ingob 76
//     SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
77
 
304 ingob 78
}
79
 
80
//------------------------------------------------------
81
//SIGNAL(SIG_SPI)
82
void SPI_TransmitByte(void)
83
{
708 ingob 84
   static unsigned char SPI_RXState = 0;
1051 killagreg 85
   unsigned char rxdata;
708 ingob 86
   static unsigned char rxchksum;
1051 killagreg 87
 
691 ingob 88
   if (SPITransferCompleted) return;
304 ingob 89
   if (!(SPSR & (1 << SPIF))) return;
1051 killagreg 90
  SendSPI = 4;
91
 
92
//   _delay_us(30);
606 ingob 93
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
1051 killagreg 94
 
708 ingob 95
  rxdata = SPDR;
96
  switch ( SPI_RXState)
97
  {
1051 killagreg 98
  case 0:
99
 
100
                        SPI_RxBufferIndex = 0;
708 ingob 101
                        //DebugOut.Analog[17]++;
1051 killagreg 102
                        rxchksum = rxdata;
103
                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok
104
 
708 ingob 105
           break;
106
 
1051 killagreg 107
   case 1:
108
                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok
109
                 else SPI_RXState  = 0;
708 ingob 110
                        //DebugOut.Analog[18]++;
1051 killagreg 111
           break;
112
 
708 ingob 113
   case 2:
114
                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
115
           //DebugOut.Analog[19]++;
1051 killagreg 116
           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
117
                   {
118
 
708 ingob 119
                if (rxdata == rxchksum)
120
                        {
823 ingob 121
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
1051 killagreg 122
 
708 ingob 123
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
1051 killagreg 124
 
125
                          SPI_RxDataValid = 1;
126
                        }
127
                        else SPI_RxDataValid = 0;
128
 
129
                        SPI_RXState  = 0;
708 ingob 130
                   }
1051 killagreg 131
                  else rxchksum += rxdata;
132
        break;
133
 
134
  }
135
 
136
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))
137
     {
606 ingob 138
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
691 ingob 139
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
140
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
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");
1051 killagreg 142
 
708 ingob 143
           SPDR = SPI_TX_Buffer[SPI_BufferIndex];
823 ingob 144
           ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
691 ingob 145
        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
146
 
606 ingob 147
         }
1051 killagreg 148
         else SPITransferCompleted = 1;
149
 
304 ingob 150
         SPI_BufferIndex++;
151
}
152
 
691 ingob 153
 
304 ingob 154
//------------------------------------------------------
155
void UpdateSPI_Buffer(void)
156
{
846 hbuss 157
  signed int tmp;
1171 hbuss 158
  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
159
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
160
  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
161
  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
162
  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
819 hbuss 163
  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
823 ingob 164
//  ToNaviCtrl.User8 = Parameter_UserParam8;
165
//  ToNaviCtrl.CalState = WinkelOut.CalcState;
1051 killagreg 166
   switch(ToNaviCtrl.Command)  //
823 ingob 167
   {
1448 killagreg 168
         case SPI_FCCMD_USER:
823 ingob 169
                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
170
                                ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
171
                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
172
                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
173
                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
174
                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
175
                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
921 hbuss 176
                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
1420 killagreg 177
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) FCFlags;
178
                FCFlags &= ~(FCFLAG_CALIBRATE | FCFLAG_START);
921 hbuss 179
                    ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;
1236 killagreg 180
                    ToNaviCtrl.Param.Byte[10] =(unsigned char) BattLowVoltageWarning;
921 hbuss 181
                    ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
182
        break;
1241 killagreg 183
 
1448 killagreg 184
         case SPI_FCCMD_PARAMETER1:
993 hbuss 185
                                ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 186
                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
187
                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
188
                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
189
                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
190
                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
191
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
192
                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
993 hbuss 193
                ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
194
                ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
195
                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
1064 hbuss 196
                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
823 ingob 197
            break;
1241 killagreg 198
 
1448 killagreg 199
         case SPI_FCCMD_STICK:
1320 hbuss 200
              cli();
871 hbuss 201
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 202
                                ToNaviCtrl.Param.Byte[0] = (char) tmp;
871 hbuss 203
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 204
                                ToNaviCtrl.Param.Byte[1] = (char) tmp;
871 hbuss 205
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 206
                                ToNaviCtrl.Param.Byte[2] = (char) tmp;
871 hbuss 207
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
1320 hbuss 208
              sei();
846 hbuss 209
                                ToNaviCtrl.Param.Byte[3] = (char) tmp;
1377 hbuss 210
                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
211
                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
212
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
213
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
214
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
215
                                ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
216
                                ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
217
                                ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
1241 killagreg 218
                        break;
1448 killagreg 219
                case SPI_FCCMD_MISC:
1241 killagreg 220
                        if(WinkelOut.CalcState > 5)
221
                        {
222
                                WinkelOut.CalcState = 0;
223
                                ToNaviCtrl.Param.Byte[0] = 5;
224
                        }
225
                        else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
1312 hbuss 226
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
1320 hbuss 227
                        ToNaviCtrl.Param.Int[1] = DebugOut.Analog[5];// = HoehenWert/5;
1312 hbuss 228
                        ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
229
                        ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
230
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
231
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
1377 hbuss 232
            ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
233
            ToNaviCtrl.Param.Byte[10] = (unsigned char) SenderRSSI;
234
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
1241 killagreg 235
                        break;
1448 killagreg 236
                case SPI_FCCMD_VERSION:
237
                        ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
238
                        ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
239
                        ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
240
                        ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
1241 killagreg 241
                        ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
242
                break;
243
 
1448 killagreg 244
            case SPI_FCCMD_SERVOS:
1241 killagreg 245
                ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh;     // Parameters for the Servo Control
246
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
247
                        ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
248
                        ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
249
                        ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
250
                        ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
251
                        ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
252
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
253
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
254
                        ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
255
                break;
256
        }
257
 
1215 hbuss 258
  if(SPI_RxDataValid)
1051 killagreg 259
  {
855 hbuss 260
   if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
854 hbuss 261
   {
823 ingob 262
    GPS_Nick = FromNaviCtrl.GPS_Nick;
263
    GPS_Roll = FromNaviCtrl.GPS_Roll;
1215 hbuss 264
        NaviDataOkay = 250;
854 hbuss 265
   }
266
    if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
720 ingob 267
    KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
1051 killagreg 268
 
855 hbuss 269
    if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
1051 killagreg 270
 
823 ingob 271
          switch (FromNaviCtrl.Command)
272
          {
1448 killagreg 273
            case SPI_NCCMD_KALMAN:
1231 killagreg 274
                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
275
                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
276
                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
277
                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
1283 hbuss 278
                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
1231 killagreg 279
                        break;
1448 killagreg 280
 
281
                case SPI_NCCMD_VERSION:
282
                        NC_Version.Major = FromNaviCtrl.Param.Byte[0];
283
                        NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
284
                        NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
285
                        NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
286
                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
287
                        break;
823 ingob 288
                default:
289
                  break;
290
          }
720 ingob 291
  }
292
  else
293
  {
819 hbuss 294
//    KompassValue = 0;
295
//    KompassRichtung = 0;
720 ingob 296
        GPS_Nick = 0;
297
    GPS_Roll = 0;
298
  }
304 ingob 299
}
300
 
597 ingob 301
#endif
304 ingob 302
 
303