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304 ingob 1
// ######################## SPI - FlightCtrl ###################
2
#include "main.h"
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4
 
823 ingob 5
//struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
6
//struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
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struct str_ToNaviCtrl   ToNaviCtrl;
8
struct str_FromNaviCtrl   FromNaviCtrl;
708 ingob 9
 
304 ingob 10
unsigned char              SPI_BufferIndex;
708 ingob 11
unsigned char              SPI_RxBufferIndex;
606 ingob 12
 
882 hbuss 13
volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
823 ingob 14
unsigned char *SPI_TX_Buffer;
708 ingob 15
 
617 ingob 16
unsigned char SPITransferCompleted, SPI_ChkSum;
720 ingob 17
unsigned char SPI_RxDataValid;
18
 
921 hbuss 19
unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS};
823 ingob 20
unsigned char SPI_CommandCounter = 0;
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597 ingob 22
#ifdef USE_SPI_COMMUNICATION
691 ingob 23
 
304 ingob 24
//------------------------------------------------------
25
void SPI_MasterInit(void)
26
{
27
  DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK);    // Set MOSI and SCK output, all others input 
28
  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
29
 
691 ingob 30
  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64 
723 hbuss 31
  SPSR = 0;//(1<<SPI2X);
691 ingob 32
 
304 ingob 33
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
606 ingob 34
  SPITransferCompleted = 1;
35
 
708 ingob 36
  //SPDR = 0x00;  // dummy write
606 ingob 37
 
823 ingob 38
  ToNaviCtrl.Sync1 = 0xAA;
39
  ToNaviCtrl.Sync2 = 0x83;
606 ingob 40
 
823 ingob 41
  ToNaviCtrl.Command = SPI_CMD_USER;
42
  ToNaviCtrl.IntegralNick = 0;
43
  ToNaviCtrl.IntegralRoll = 0;
720 ingob 44
  SPI_RxDataValid = 0;
304 ingob 45
}
46
 
47
//------------------------------------------------------
823 ingob 48
void SPI_StartTransmitPacket(void)
304 ingob 49
{
606 ingob 50
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
51
   if (!SPITransferCompleted) return;
723 hbuss 52
//   _delay_us(30); 
304 ingob 53
 
54
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
823 ingob 55
   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
617 ingob 56
 
823 ingob 57
   ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
58
   if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
708 ingob 59
 
606 ingob 60
   SPITransferCompleted = 0;
304 ingob 61
   UpdateSPI_Buffer();                              // update buffer
823 ingob 62
 
304 ingob 63
   SPI_BufferIndex = 1;
708 ingob 64
  //ebugOut.Analog[16]++; 
304 ingob 65
   // -- Debug-Output ---
66
   //----
691 ingob 67
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
68
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
69
   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 70
   ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
71
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission 
691 ingob 72
//     SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
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304 ingob 74
}
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76
//------------------------------------------------------
77
//SIGNAL(SIG_SPI)
78
void SPI_TransmitByte(void)
79
{
708 ingob 80
   static unsigned char SPI_RXState = 0;
81
   unsigned char rxdata;
82
   static unsigned char rxchksum;
691 ingob 83
 
84
   if (SPITransferCompleted) return;
304 ingob 85
   if (!(SPSR & (1 << SPIF))) return;
723 hbuss 86
  SendSPI = 4;
691 ingob 87
 
723 hbuss 88
//   _delay_us(30); 
606 ingob 89
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
304 ingob 90
 
708 ingob 91
  rxdata = SPDR;
92
  switch ( SPI_RXState)
93
  {
94
  case 0:
95
 
96
                        SPI_RxBufferIndex = 0;
97
                        //DebugOut.Analog[17]++;
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                        rxchksum = rxdata;  
99
                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok 
100
 
101
           break;
102
 
103
   case 1:
104
                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok 
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                 else SPI_RXState  = 0;    
106
                        //DebugOut.Analog[18]++;
107
           break;      
108
 
109
   case 2:
110
                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
111
           //DebugOut.Analog[19]++;
823 ingob 112
           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
708 ingob 113
                   {  
114
 
115
                if (rxdata == rxchksum)
116
                        {
823 ingob 117
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
708 ingob 118
 
119
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
120
 
720 ingob 121
                          SPI_RxDataValid = 1;
708 ingob 122
                        }
720 ingob 123
                        else SPI_RxDataValid = 0;
708 ingob 124
 
125
                        SPI_RXState  = 0;  
126
                   }
127
                  else rxchksum += rxdata;
128
        break;   
129
 
130
  }            
131
 
823 ingob 132
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))  
606 ingob 133
     {
134
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
691 ingob 135
           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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           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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           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
617 ingob 138
 
708 ingob 139
           SPDR = SPI_TX_Buffer[SPI_BufferIndex];
823 ingob 140
           ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
691 ingob 141
        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
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606 ingob 143
         }
708 ingob 144
         else SPITransferCompleted = 1;  
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304 ingob 146
         SPI_BufferIndex++;
147
}
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691 ingob 149
 
304 ingob 150
//------------------------------------------------------
151
void UpdateSPI_Buffer(void)
152
{
691 ingob 153
  static unsigned char i =0;
846 hbuss 154
  signed int tmp;
304 ingob 155
  cli();
823 ingob 156
 
846 hbuss 157
  ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108);
158
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108);
823 ingob 159
  ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
160
  ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc);
846 hbuss 161
  ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc);
819 hbuss 162
  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
823 ingob 163
//  ToNaviCtrl.User8 = Parameter_UserParam8;
164
//  ToNaviCtrl.CalState = WinkelOut.CalcState;
165
 
166
   switch(ToNaviCtrl.Command)  // 
167
   {
168
         case SPI_CMD_USER:
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;
177
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;
178
                MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START);
179
                    ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;
180
                    ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung;
181
                    ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
182
        break;
183
 
184
         case SPI_CMD_PARAMETER1:
185
                                ToNaviCtrl.Param.Byte[0] = Parameter_NaviGpsModeControl;     // Parameters for the Naviboard
186
                                ToNaviCtrl.Param.Byte[1] = Parameter_NaviGpsGain;    
187
                                ToNaviCtrl.Param.Byte[2] = Parameter_NaviGpsP;        
188
                                ToNaviCtrl.Param.Byte[3] = Parameter_NaviGpsI;        
189
                                ToNaviCtrl.Param.Byte[4] = Parameter_NaviGpsD;        
190
                                ToNaviCtrl.Param.Byte[5] = Parameter_NaviGpsACC;        
191
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;        
192
                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;        
193
                ToNaviCtrl.Param.Byte[8] = 15; // MaxRadius
823 ingob 194
            break;
195
 
196
         case SPI_CMD_STICK:
871 hbuss 197
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 198
                                ToNaviCtrl.Param.Byte[0] = (char) tmp;
871 hbuss 199
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 200
                                ToNaviCtrl.Param.Byte[1] = (char) tmp;
871 hbuss 201
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 202
                                ToNaviCtrl.Param.Byte[2] = (char) tmp;
871 hbuss 203
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 204
                                ToNaviCtrl.Param.Byte[3] = (char) tmp;
205
                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;
206
                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;
207
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
208
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
855 hbuss 209
                    ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
823 ingob 210
            break;
211
         case SPI_CMD_CAL_COMPASS:
855 hbuss 212
                if(WinkelOut.CalcState > 5)  
213
                  {
214
                    WinkelOut.CalcState = 0;    
215
                    ToNaviCtrl.Param.Byte[0] = 5;
216
                  }  
217
                                else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
823 ingob 218
            break;
219
   }
220
 
304 ingob 221
  sei();
855 hbuss 222
 
720 ingob 223
  if (SPI_RxDataValid)
224
  {
855 hbuss 225
   if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
854 hbuss 226
   {
823 ingob 227
    GPS_Nick = FromNaviCtrl.GPS_Nick;
228
    GPS_Roll = FromNaviCtrl.GPS_Roll;
854 hbuss 229
   }
230
    if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
720 ingob 231
    KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
232
 
855 hbuss 233
    if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
823 ingob 234
 
235
          switch (FromNaviCtrl.Command)
236
          {
237
            case  SPI_CMD_OSD_DATA:
238
//                                ToFlightCtrl.Param.Byte[0] = OsdBar;
239
//                                ToFlightCtrl.Param.Int[1]  = Distance;
240
                  break;
241
 
242
            case  SPI_CMD_GPS_POS:
243
//                                ToFlightCtrl.Param.Long[0]  = GPS_Data.Longitude;
244
//                                ToFlightCtrl.Param.Long[1]  = GPS_Data.Latitude;
245
                  break;
246
 
247
            case  SPI_CMD_GPS_TARGET:
248
//                                ToFlightCtrl.Param.Long[0]  = GPS_Data.TargetLongitude;
249
//                                ToFlightCtrl.Param.Long[1]  = GPS_Data.TargetLatitude;
250
                  break;
251
 
252
                default:
253
                  break;
254
          }
720 ingob 255
  }
256
  else
257
  {
819 hbuss 258
//    KompassValue = 0;
259
//    KompassRichtung = 0;
720 ingob 260
 
261
        GPS_Nick = 0;
262
    GPS_Roll = 0;
263
  }
304 ingob 264
}
265
 
597 ingob 266
#endif
304 ingob 267
 
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