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;
1051 killagreg 10
struct str_SPI_VersionInfo SPI_VersionInfo;
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;
720 ingob 19
unsigned char SPI_RxDataValid;
20
 
1036 hbuss 21
unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION };
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
 
823 ingob 43
  ToNaviCtrl.Command = SPI_CMD_USER;
44
  ToNaviCtrl.IntegralNick = 0;
45
  ToNaviCtrl.IntegralRoll = 0;
1051 killagreg 46
  SPI_RxDataValid = 0;
47
 
48
  SPI_VersionInfo.Major = VERSION_MAJOR;
49
  SPI_VersionInfo.Minor = VERSION_MINOR;
50
  SPI_VersionInfo.Patch = VERSION_PATCH;
51
  SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE;
304 ingob 52
}
53
 
54
//------------------------------------------------------
823 ingob 55
void SPI_StartTransmitPacket(void)
304 ingob 56
{
606 ingob 57
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
58
   if (!SPITransferCompleted) return;
1051 killagreg 59
//   _delay_us(30);
60
 
304 ingob 61
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
823 ingob 62
   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
1051 killagreg 63
 
823 ingob 64
   ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
65
   if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1051 killagreg 66
 
606 ingob 67
   SPITransferCompleted = 0;
304 ingob 68
   UpdateSPI_Buffer();                              // update buffer
823 ingob 69
 
304 ingob 70
   SPI_BufferIndex = 1;
1051 killagreg 71
  //ebugOut.Analog[16]++;
304 ingob 72
   // -- Debug-Output ---
73
   //----
691 ingob 74
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
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");
823 ingob 77
   ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
1051 killagreg 78
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
691 ingob 79
//     SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
80
 
304 ingob 81
}
82
 
83
//------------------------------------------------------
84
//SIGNAL(SIG_SPI)
85
void SPI_TransmitByte(void)
86
{
708 ingob 87
   static unsigned char SPI_RXState = 0;
1051 killagreg 88
   unsigned char rxdata;
708 ingob 89
   static unsigned char rxchksum;
1051 killagreg 90
 
691 ingob 91
   if (SPITransferCompleted) return;
304 ingob 92
   if (!(SPSR & (1 << SPIF))) return;
1051 killagreg 93
  SendSPI = 4;
94
 
95
//   _delay_us(30);
606 ingob 96
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
1051 killagreg 97
 
708 ingob 98
  rxdata = SPDR;
99
  switch ( SPI_RXState)
100
  {
1051 killagreg 101
  case 0:
102
 
103
                        SPI_RxBufferIndex = 0;
708 ingob 104
                        //DebugOut.Analog[17]++;
1051 killagreg 105
                        rxchksum = rxdata;
106
                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok
107
 
708 ingob 108
           break;
109
 
1051 killagreg 110
   case 1:
111
                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok
112
                 else SPI_RXState  = 0;
708 ingob 113
                        //DebugOut.Analog[18]++;
1051 killagreg 114
           break;
115
 
708 ingob 116
   case 2:
117
                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
118
           //DebugOut.Analog[19]++;
1051 killagreg 119
           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
120
                   {
121
 
708 ingob 122
                if (rxdata == rxchksum)
123
                        {
823 ingob 124
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
1051 killagreg 125
 
708 ingob 126
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
1051 killagreg 127
 
128
                          SPI_RxDataValid = 1;
129
                        }
130
                        else SPI_RxDataValid = 0;
131
 
132
                        SPI_RXState  = 0;
708 ingob 133
                   }
1051 killagreg 134
                  else rxchksum += rxdata;
135
        break;
136
 
137
  }
138
 
139
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))
140
     {
606 ingob 141
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
691 ingob 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
           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 145
 
708 ingob 146
           SPDR = SPI_TX_Buffer[SPI_BufferIndex];
823 ingob 147
           ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
691 ingob 148
        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
149
 
606 ingob 150
         }
1051 killagreg 151
         else SPITransferCompleted = 1;
152
 
304 ingob 153
         SPI_BufferIndex++;
154
}
155
 
691 ingob 156
 
304 ingob 157
//------------------------------------------------------
158
void UpdateSPI_Buffer(void)
159
{
691 ingob 160
  static unsigned char i =0;
846 hbuss 161
  signed int tmp;
304 ingob 162
  cli();
1051 killagreg 163
 
1100 killagreg 164
  ToNaviCtrl.IntegralNick = (int) (IntegralNick / 130);
165
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 130);
1051 killagreg 166
  ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
823 ingob 167
  ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc);
846 hbuss 168
  ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc);
819 hbuss 169
  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
823 ingob 170
//  ToNaviCtrl.User8 = Parameter_UserParam8;
171
//  ToNaviCtrl.CalState = WinkelOut.CalcState;
172
 
1051 killagreg 173
   switch(ToNaviCtrl.Command)  //
823 ingob 174
   {
1051 killagreg 175
         case SPI_CMD_USER:
823 ingob 176
                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
177
                                ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
178
                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
179
                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
180
                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
181
                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
182
                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
921 hbuss 183
                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
184
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;
185
                MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START);
186
                    ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;
187
                    ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung;
188
                    ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
189
        break;
1051 killagreg 190
         case SPI_CMD_PARAMETER1:
993 hbuss 191
                                ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 192
                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
193
                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
194
                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
195
                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
196
                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
197
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
198
                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
993 hbuss 199
                ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
200
                ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
201
                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
1064 hbuss 202
                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
823 ingob 203
            break;
1051 killagreg 204
         case SPI_CMD_STICK:
871 hbuss 205
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 206
                                ToNaviCtrl.Param.Byte[0] = (char) tmp;
871 hbuss 207
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 208
                                ToNaviCtrl.Param.Byte[1] = (char) tmp;
871 hbuss 209
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 210
                                ToNaviCtrl.Param.Byte[2] = (char) tmp;
871 hbuss 211
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 212
                                ToNaviCtrl.Param.Byte[3] = (char) tmp;
213
                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;
214
                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;
215
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
216
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
855 hbuss 217
                    ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
823 ingob 218
            break;
1036 hbuss 219
         case SPI_CMD_MISC:
1051 killagreg 220
                if(WinkelOut.CalcState > 5)
855 hbuss 221
                  {
1051 killagreg 222
                    WinkelOut.CalcState = 0;
223
                    ToNaviCtrl.Param.Byte[0] = 5;
224
                  }
855 hbuss 225
                                else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
1036 hbuss 226
                                ToNaviCtrl.Param.Int[1] = HoehenWert;
1120 hbuss 227
                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
228
                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsPLimit;
229
                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsILimit;
230
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsDLimit;
823 ingob 231
            break;
991 ingob 232
 
233
         case SPI_CMD_VERSION:
1051 killagreg 234
                                ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;
235
                                ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;
236
                                ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;
237
                                ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;
991 ingob 238
            break;
823 ingob 239
   }
1051 killagreg 240
 
304 ingob 241
  sei();
1051 killagreg 242
 
720 ingob 243
  if (SPI_RxDataValid)
1051 killagreg 244
  {
855 hbuss 245
   if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
854 hbuss 246
   {
823 ingob 247
    GPS_Nick = FromNaviCtrl.GPS_Nick;
248
    GPS_Roll = FromNaviCtrl.GPS_Roll;
854 hbuss 249
   }
250
    if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
720 ingob 251
    KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
1051 killagreg 252
 
855 hbuss 253
    if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
1051 killagreg 254
 
823 ingob 255
          switch (FromNaviCtrl.Command)
256
          {
992 hbuss 257
            case  SPI_KALMAN:
258
               FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0];
259
               FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1];
260
               FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2];
261
               break;
1051 killagreg 262
 
823 ingob 263
                default:
264
                  break;
265
          }
720 ingob 266
  }
267
  else
268
  {
819 hbuss 269
//    KompassValue = 0;
270
//    KompassRichtung = 0;
1051 killagreg 271
 
720 ingob 272
        GPS_Nick = 0;
273
    GPS_Roll = 0;
274
  }
304 ingob 275
}
276
 
597 ingob 277
#endif
304 ingob 278
 
279