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;
1215 hbuss 19
unsigned char SPI_RxDataValid,NaviDataOkay = 0;
720 ingob 20
 
1241 killagreg 21
unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION, SPI_CMD_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
 
823 ingob 43
  ToNaviCtrl.Command = SPI_CMD_USER;
44
  ToNaviCtrl.IntegralNick = 0;
45
  ToNaviCtrl.IntegralRoll = 0;
1215 hbuss 46
  FromNaviCtrl_Value.SerialDataOkay = 0;
1051 killagreg 47
  SPI_RxDataValid = 0;
48
 
49
  SPI_VersionInfo.Major = VERSION_MAJOR;
50
  SPI_VersionInfo.Minor = VERSION_MINOR;
51
  SPI_VersionInfo.Patch = VERSION_PATCH;
52
  SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE;
304 ingob 53
}
54
 
55
//------------------------------------------------------
823 ingob 56
void SPI_StartTransmitPacket(void)
304 ingob 57
{
606 ingob 58
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
59
   if (!SPITransferCompleted) return;
1051 killagreg 60
//   _delay_us(30);
61
 
304 ingob 62
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
823 ingob 63
   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
1051 killagreg 64
 
823 ingob 65
   ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
66
   if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1051 killagreg 67
 
606 ingob 68
   SPITransferCompleted = 0;
304 ingob 69
   UpdateSPI_Buffer();                              // update buffer
823 ingob 70
 
304 ingob 71
   SPI_BufferIndex = 1;
1051 killagreg 72
  //ebugOut.Analog[16]++;
304 ingob 73
   // -- Debug-Output ---
74
   //----
691 ingob 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");
823 ingob 78
   ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
1051 killagreg 79
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
691 ingob 80
//     SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
81
 
304 ingob 82
}
83
 
84
//------------------------------------------------------
85
//SIGNAL(SIG_SPI)
86
void SPI_TransmitByte(void)
87
{
708 ingob 88
   static unsigned char SPI_RXState = 0;
1051 killagreg 89
   unsigned char rxdata;
708 ingob 90
   static unsigned char rxchksum;
1051 killagreg 91
 
691 ingob 92
   if (SPITransferCompleted) return;
304 ingob 93
   if (!(SPSR & (1 << SPIF))) return;
1051 killagreg 94
  SendSPI = 4;
95
 
96
//   _delay_us(30);
606 ingob 97
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
1051 killagreg 98
 
708 ingob 99
  rxdata = SPDR;
100
  switch ( SPI_RXState)
101
  {
1051 killagreg 102
  case 0:
103
 
104
                        SPI_RxBufferIndex = 0;
708 ingob 105
                        //DebugOut.Analog[17]++;
1051 killagreg 106
                        rxchksum = rxdata;
107
                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok
108
 
708 ingob 109
           break;
110
 
1051 killagreg 111
   case 1:
112
                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok
113
                 else SPI_RXState  = 0;
708 ingob 114
                        //DebugOut.Analog[18]++;
1051 killagreg 115
           break;
116
 
708 ingob 117
   case 2:
118
                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
119
           //DebugOut.Analog[19]++;
1051 killagreg 120
           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
121
                   {
122
 
708 ingob 123
                if (rxdata == rxchksum)
124
                        {
823 ingob 125
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
1051 killagreg 126
 
708 ingob 127
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
1051 killagreg 128
 
129
                          SPI_RxDataValid = 1;
130
                        }
131
                        else SPI_RxDataValid = 0;
132
 
133
                        SPI_RXState  = 0;
708 ingob 134
                   }
1051 killagreg 135
                  else rxchksum += rxdata;
136
        break;
137
 
138
  }
139
 
140
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))
141
     {
606 ingob 142
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
691 ingob 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");
145
           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 146
 
708 ingob 147
           SPDR = SPI_TX_Buffer[SPI_BufferIndex];
823 ingob 148
           ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
691 ingob 149
        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
150
 
606 ingob 151
         }
1051 killagreg 152
         else SPITransferCompleted = 1;
153
 
304 ingob 154
         SPI_BufferIndex++;
155
}
156
 
691 ingob 157
 
304 ingob 158
//------------------------------------------------------
159
void UpdateSPI_Buffer(void)
160
{
846 hbuss 161
  signed int tmp;
1171 hbuss 162
  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
163
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
164
  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
165
  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
166
  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
819 hbuss 167
  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
823 ingob 168
//  ToNaviCtrl.User8 = Parameter_UserParam8;
169
//  ToNaviCtrl.CalState = WinkelOut.CalcState;
1051 killagreg 170
   switch(ToNaviCtrl.Command)  //
823 ingob 171
   {
1051 killagreg 172
         case SPI_CMD_USER:
823 ingob 173
                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
174
                                ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
175
                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
176
                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
177
                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
178
                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
179
                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
921 hbuss 180
                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
181
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;
182
                MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START);
183
                    ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;
1236 killagreg 184
                    ToNaviCtrl.Param.Byte[10] =(unsigned char) BattLowVoltageWarning;
921 hbuss 185
                    ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
186
        break;
1241 killagreg 187
 
1051 killagreg 188
         case SPI_CMD_PARAMETER1:
993 hbuss 189
                                ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 190
                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
191
                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
192
                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
193
                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
194
                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
195
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
196
                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
993 hbuss 197
                ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
198
                ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
199
                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
1064 hbuss 200
                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
823 ingob 201
            break;
1241 killagreg 202
 
1051 killagreg 203
         case SPI_CMD_STICK:
1320 hbuss 204
              cli();
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;
1320 hbuss 212
              sei();
846 hbuss 213
                                ToNaviCtrl.Param.Byte[3] = (char) tmp;
1377 hbuss 214
                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
215
                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
216
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
217
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
218
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
219
                                ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
220
                                ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
221
                                ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
1241 killagreg 222
                        break;
223
                case SPI_CMD_MISC:
224
                        if(WinkelOut.CalcState > 5)
225
                        {
226
                                WinkelOut.CalcState = 0;
227
                                ToNaviCtrl.Param.Byte[0] = 5;
228
                        }
229
                        else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
1312 hbuss 230
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
1320 hbuss 231
                        ToNaviCtrl.Param.Int[1] = DebugOut.Analog[5];// = HoehenWert/5;
1312 hbuss 232
                        ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
233
                        ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
234
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
235
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
1377 hbuss 236
            ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
237
            ToNaviCtrl.Param.Byte[10] = (unsigned char) SenderRSSI;
238
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
1241 killagreg 239
                        break;
240
                case SPI_CMD_VERSION:
241
                        ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;
242
                        ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;
243
                        ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;
244
                        ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;
245
                        ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
246
                break;
247
 
248
            case SPI_CMD_SERVOS:
249
                ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh;     // Parameters for the Servo Control
250
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
251
                        ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
252
                        ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
253
                        ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
254
                        ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
255
                        ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
256
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
257
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
258
                        ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
259
                break;
260
        }
261
 
1215 hbuss 262
  if(SPI_RxDataValid)
1051 killagreg 263
  {
855 hbuss 264
   if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
854 hbuss 265
   {
823 ingob 266
    GPS_Nick = FromNaviCtrl.GPS_Nick;
267
    GPS_Roll = FromNaviCtrl.GPS_Roll;
1215 hbuss 268
        NaviDataOkay = 250;
854 hbuss 269
   }
270
    if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
720 ingob 271
    KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
1051 killagreg 272
 
855 hbuss 273
    if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
1051 killagreg 274
 
823 ingob 275
          switch (FromNaviCtrl.Command)
276
          {
1231 killagreg 277
            case SPI_KALMAN:
278
                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
279
                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
280
                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
281
                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
1283 hbuss 282
                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
1231 killagreg 283
                        break;
823 ingob 284
                default:
285
                  break;
286
          }
720 ingob 287
  }
288
  else
289
  {
819 hbuss 290
//    KompassValue = 0;
291
//    KompassRichtung = 0;
720 ingob 292
        GPS_Nick = 0;
293
    GPS_Roll = 0;
294
  }
304 ingob 295
}
296
 
597 ingob 297
#endif
304 ingob 298
 
299