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| Rev | Author | Line No. | Line |
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| 1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + Nur für den privaten Gebrauch |
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| 4 | // + www.MikroKopter.com |
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| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 18 | // + eindeutig als Ursprung verlinkt werden |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 21 | // + Benutzung auf eigene Gefahr |
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| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 25 | // + mit unserer Zustimmung zulässig |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 30 | // + this list of conditions and the following disclaimer. |
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| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 32 | // + from this software without specific prior written permission. |
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| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 34 | // + for non-commercial use (directly or indirectly) |
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| 1868 | - | 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1612 | dongfang | 36 | // + with our written permission |
| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 38 | // + clearly linked as origin |
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| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 49 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 51 | #include <avr/io.h> |
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| 52 | #include <avr/interrupt.h> |
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| 53 | #include <string.h> |
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| 54 | #include <stdlib.h> |
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| 55 | #include "spi.h" |
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| 56 | #include "rc.h" |
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| 57 | #include "eeprom.h" |
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| 58 | #include "uart0.h" |
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| 59 | #include "timer0.h" |
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| 60 | #include "analog.h" |
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| 61 | #include "attitude.h" |
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| 1645 | - | 62 | #include "GPSControl.h" |
| 1612 | dongfang | 63 | #include "flight.h" |
| 64 | |||
| 65 | //----------------------------------------- |
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| 66 | #define DDR_SPI DDRB |
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| 67 | #define DD_SS PB4 |
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| 68 | #define DD_SCK PB7 |
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| 69 | #define DD_MOSI PB5 |
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| 70 | #define DD_MISO PB6 |
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| 71 | |||
| 72 | // for compatibility reasons gcc3.x <-> gcc4.x |
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| 73 | #ifndef SPCR |
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| 74 | #define SPCR SPCR0 |
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| 75 | #endif |
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| 76 | #ifndef SPIE |
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| 77 | #define SPIE SPIE0 |
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| 78 | #endif |
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| 79 | #ifndef SPE |
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| 80 | #define SPE SPE0 |
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| 81 | #endif |
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| 82 | #ifndef DORD |
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| 83 | #define DORD DORD0 |
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| 84 | #endif |
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| 85 | #ifndef MSTR |
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| 86 | #define MSTR MSTR0 |
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| 87 | #endif |
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| 88 | #ifndef CPOL |
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| 89 | #define CPOL CPOL0 |
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| 90 | #endif |
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| 91 | #ifndef CPHA |
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| 92 | #define CPHA CPHA0 |
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| 93 | #endif |
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| 94 | #ifndef SPR1 |
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| 95 | #define SPR1 SPR01 |
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| 96 | #endif |
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| 97 | #ifndef SPR0 |
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| 98 | #define SPR0 SPR00 |
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| 99 | #endif |
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| 100 | |||
| 101 | #ifndef SPDR |
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| 102 | #define SPDR SPDR0 |
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| 103 | #endif |
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| 104 | |||
| 105 | #ifndef SPSR |
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| 106 | #define SPSR SPSR0 |
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| 107 | #endif |
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| 108 | #ifndef SPIF |
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| 109 | #define SPIF SPIF0 |
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| 110 | #endif |
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| 111 | #ifndef WCOL |
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| 112 | #define WCOL WCOL0 |
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| 113 | #endif |
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| 1775 | - | 114 | #ifndef SPI2X |
| 1612 | dongfang | 115 | #define SPI2X SPI2X0 |
| 1775 | - | 116 | #endif |
| 1612 | dongfang | 117 | // ------------------------- |
| 118 | |||
| 119 | #define SLAVE_SELECT_DDR_PORT DDRC |
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| 120 | #define SLAVE_SELECT_PORT PORTC |
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| 121 | #define SPI_SLAVE_SELECT PC5 |
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| 122 | |||
| 123 | #define SPI_TXSYNCBYTE1 0xAA |
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| 124 | #define SPI_TXSYNCBYTE2 0x83 |
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| 125 | #define SPI_RXSYNCBYTE1 0x81 |
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| 126 | #define SPI_RXSYNCBYTE2 0x55 |
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| 127 | |||
| 1775 | - | 128 | typedef enum { |
| 1821 | - | 129 | SPI_SYNC1, SPI_SYNC2, SPI_DATA |
| 1775 | - | 130 | } SPI_RXState_t; |
| 1612 | dongfang | 131 | |
| 132 | // data exchange packets to and From NaviCtrl |
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| 1821 | - | 133 | ToNaviCtrl_t toNaviCtrl; |
| 134 | FromNaviCtrl_t fromNaviCtrl; |
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| 135 | SPI_VersionInfo_t SPI_VersionInfo; |
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| 1612 | dongfang | 136 | |
| 137 | // rx packet buffer |
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| 1775 | - | 138 | #define SPI_RXBUFFER_LEN sizeof(fromNaviCtrl) |
| 1612 | dongfang | 139 | uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
| 1821 | - | 140 | uint8_t SPI_RxBufferIndex = 0; |
| 1612 | dongfang | 141 | uint8_t SPI_RxBuffer_Request = 0; |
| 142 | |||
| 143 | // tx packet buffer |
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| 1775 | - | 144 | #define SPI_TXBUFFER_LEN sizeof(toNaviCtrl) |
| 1612 | dongfang | 145 | uint8_t *SPI_TxBuffer; |
| 1821 | - | 146 | uint8_t SPI_TxBufferIndex = 0; |
| 1612 | dongfang | 147 | |
| 148 | uint8_t SPITransferCompleted, SPI_ChkSum; |
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| 149 | uint8_t SPI_RxDataValid = 0; |
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| 150 | uint8_t NCDataOkay = 0; |
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| 151 | uint8_t NCSerialDataOkay = 0; |
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| 152 | |||
| 1821 | - | 153 | uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, |
| 154 | SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
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| 1612 | dongfang | 155 | uint8_t SPI_CommandCounter = 0; |
| 156 | |||
| 157 | /*********************************************/ |
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| 158 | /* Initialize SPI interface to NaviCtrl */ |
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| 159 | /*********************************************/ |
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| 160 | void SPI_MasterInit(void) { |
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| 1821 | - | 161 | DDR_SPI |= (1 << DD_MOSI) | (1 << DD_SCK); // Set MOSI and SCK output, all others input |
| 162 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
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| 163 | |||
| 164 | SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (0 << SPR0) | (0 << SPIE); // Enable SPI, Master, set clock rate fck/64 |
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| 165 | SPSR = 0;//(1<<SPI2X); |
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| 166 | |||
| 167 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave |
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| 168 | |||
| 169 | SPI_TxBuffer = (uint8_t *) &toNaviCtrl; // set pointer to tx-buffer |
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| 170 | SPITransferCompleted = 1; |
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| 171 | // initialize data packet to NaviControl |
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| 172 | toNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
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| 173 | toNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
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| 174 | |||
| 175 | toNaviCtrl.Command = SPI_CMD_USER; |
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| 176 | toNaviCtrl.IntegralPitch = 0; |
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| 177 | toNaviCtrl.IntegralRoll = 0; |
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| 178 | NCSerialDataOkay = 0; |
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| 179 | NCDataOkay = 0; |
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| 180 | |||
| 181 | SPI_RxDataValid = 0; |
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| 182 | |||
| 183 | SPI_VersionInfo.Major = VERSION_MAJOR; |
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| 184 | SPI_VersionInfo.Minor = VERSION_MINOR; |
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| 185 | SPI_VersionInfo.Patch = VERSION_PATCH; |
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| 186 | SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
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| 1612 | dongfang | 187 | } |
| 188 | |||
| 189 | /**********************************************************/ |
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| 190 | /* Update Data transferd by the SPI from/to NaviCtrl */ |
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| 191 | /**********************************************************/ |
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| 192 | void UpdateSPI_Buffer(void) { |
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| 1821 | - | 193 | uint8_t i; |
| 194 | int16_t tmp; |
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| 195 | cli(); |
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| 196 | // stop all interrupts to avoid writing of new data during update of that packet. |
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| 1775 | - | 197 | |
| 1821 | - | 198 | // update content of packet to NaviCtrl |
| 199 | toNaviCtrl.IntegralPitch = (int16_t) ((10 * angle[PITCH]) |
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| 200 | / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
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| 201 | toNaviCtrl.IntegralRoll = (int16_t) ((10 * angle[ROLL]) |
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| 202 | / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
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| 203 | toNaviCtrl.GyroHeading = (int16_t) ((10 * yawGyroHeading) |
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| 204 | / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
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| 205 | toNaviCtrl.GyroPitch = rate_ATT[PITCH]; |
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| 206 | toNaviCtrl.GyroRoll = rate_ATT[ROLL]; |
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| 207 | toNaviCtrl.GyroYaw = yawRate; |
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| 208 | toNaviCtrl.AccPitch = (10 * getAngleEstimateFromAcc(PITCH)) |
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| 209 | / GYRO_DEG_FACTOR_PITCHROLL; // convert to multiple of 0.1° |
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| 210 | toNaviCtrl.AccRoll = (10 * getAngleEstimateFromAcc(ROLL)) |
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| 211 | / GYRO_DEG_FACTOR_PITCHROLL; // convert to multiple of 0.1° |
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| 1612 | dongfang | 212 | |
| 213 | |||
| 1821 | - | 214 | // TODO: What are these little bastards? |
| 215 | |||
| 216 | averageAcc[PITCH] = averageAcc[ROLL] = averageAccCount = 0; |
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| 217 | |||
| 218 | switch (toNaviCtrl.Command) { |
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| 219 | case SPI_CMD_USER: |
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| 220 | for (i = 0; i < sizeof(dynamicParams.UserParams); i++) { |
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| 221 | toNaviCtrl.Param.Byte[i] = dynamicParams.UserParams[i]; |
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| 222 | } |
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| 223 | toNaviCtrl.Param.Byte[8] = MKFlags; |
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| 224 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting |
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| 225 | toNaviCtrl.Param.Byte[9] = (uint8_t) UBat; |
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| 226 | toNaviCtrl.Param.Byte[10] = staticParams.LowVoltageWarning; |
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| 227 | toNaviCtrl.Param.Byte[11] = getActiveParamSet(); |
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| 228 | break; |
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| 229 | |||
| 230 | case SPI_CMD_PARAMETER1: |
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| 231 | toNaviCtrl.Param.Byte[0] = staticParams.NaviGpsModeControl; // Parameters for the Naviboard |
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| 232 | toNaviCtrl.Param.Byte[1] = staticParams.NaviGpsGain; |
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| 233 | toNaviCtrl.Param.Byte[2] = staticParams.NaviGpsP; |
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| 234 | toNaviCtrl.Param.Byte[3] = staticParams.NaviGpsI; |
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| 235 | toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsD; |
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| 236 | toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsACC; |
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| 237 | toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsMinSat; |
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| 238 | toNaviCtrl.Param.Byte[7] = staticParams.NaviStickThreshold; |
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| 239 | toNaviCtrl.Param.Byte[8] = staticParams.NaviOperatingRadius; |
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| 240 | toNaviCtrl.Param.Byte[9] = staticParams.NaviWindCorrection; |
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| 241 | toNaviCtrl.Param.Byte[10] = staticParams.NaviSpeedCompensation; |
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| 242 | toNaviCtrl.Param.Byte[11] = staticParams.NaviAngleLimitation; |
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| 243 | break; |
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| 244 | |||
| 245 | case SPI_CMD_STICK: |
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| 246 | tmp = PPM_in[staticParams.ChannelAssignment[CH_THROTTLE]]; |
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| 247 | if (tmp > 127) |
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| 248 | tmp = 127; |
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| 249 | else if (tmp < -128) |
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| 250 | tmp = -128; |
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| 251 | toNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
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| 252 | tmp = PPM_in[staticParams.ChannelAssignment[CH_YAW]]; |
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| 253 | if (tmp > 127) |
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| 254 | tmp = 127; |
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| 255 | else if (tmp < -128) |
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| 256 | tmp = -128; |
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| 257 | toNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
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| 258 | tmp = PPM_in[staticParams.ChannelAssignment[CH_ROLL]]; |
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| 259 | if (tmp > 127) |
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| 260 | tmp = 127; |
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| 261 | else if (tmp < -128) |
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| 262 | tmp = -128; |
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| 263 | toNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
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| 264 | tmp = PPM_in[staticParams.ChannelAssignment[CH_PITCH]]; |
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| 265 | if (tmp > 127) |
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| 266 | tmp = 127; |
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| 267 | else if (tmp < -128) |
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| 268 | tmp = -128; |
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| 269 | toNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
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| 270 | toNaviCtrl.Param.Byte[4] = (uint8_t) variables[0]; |
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| 271 | toNaviCtrl.Param.Byte[5] = (uint8_t) variables[1]; |
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| 272 | toNaviCtrl.Param.Byte[6] = (uint8_t) variables[2]; |
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| 273 | toNaviCtrl.Param.Byte[7] = (uint8_t) variables[3]; |
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| 274 | toNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
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| 275 | break; |
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| 276 | |||
| 277 | case SPI_CMD_MISC: |
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| 278 | toNaviCtrl.Param.Byte[0] = compassCalState; |
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| 279 | if (compassCalState > 4) { // jump from 5 to 0 |
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| 280 | compassCalState = 0; |
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| 281 | } |
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| 282 | toNaviCtrl.Param.Byte[1] = staticParams.NaviPHLoginTime; |
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| 283 | // TODO: Height and in the correct scaling... |
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| 284 | toNaviCtrl.Param.Int[1] = 0; //readingHeight; // at address of Byte 2 and 3 |
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| 285 | toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsPLimit; |
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| 286 | toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsILimit; |
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| 287 | toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsDLimit; |
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| 288 | break; |
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| 289 | |||
| 290 | case SPI_CMD_VERSION: |
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| 291 | toNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
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| 292 | toNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
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| 293 | toNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
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| 294 | toNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
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| 295 | toNaviCtrl.Param.Byte[4] = BoardRelease; |
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| 296 | break; |
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| 297 | default: |
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| 298 | break; |
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| 299 | } |
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| 300 | |||
| 301 | sei(); |
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| 302 | // enable all interrupts |
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| 303 | |||
| 304 | // analyze content of packet from NaviCtrl if valid |
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| 305 | if (SPI_RxDataValid) { |
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| 306 | // update gps controls |
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| 307 | if (abs(fromNaviCtrl.GPSStickPitch) < 512 && abs(fromNaviCtrl.GPSStickRoll) |
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| 308 | < 512 && (staticParams.GlobalConfig & CFG_GPS_ACTIVE)) { |
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| 309 | GPSStickPitch = fromNaviCtrl.GPSStickPitch; |
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| 310 | GPSStickRoll = fromNaviCtrl.GPSStickRoll; |
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| 311 | NCDataOkay = 250; |
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| 312 | } |
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| 313 | // update compass readings |
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| 314 | if (fromNaviCtrl.CompassHeading <= 360) { |
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| 315 | compassHeading = fromNaviCtrl.CompassHeading; |
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| 316 | } |
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| 317 | //if(compassHeading < 0) compassOffCourse = 0; |
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| 318 | //else compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
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| 319 | // NaviCtrl wants to beep? |
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| 320 | if (fromNaviCtrl.BeepTime > BeepTime && !compassCalState) |
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| 321 | BeepTime = fromNaviCtrl.BeepTime; |
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| 322 | |||
| 323 | switch (fromNaviCtrl.Command) { |
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| 324 | case SPI_KALMAN: |
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| 325 | dynamicParams.KalmanK = fromNaviCtrl.Param.Byte[0]; |
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| 326 | dynamicParams.KalmanMaxFusion = fromNaviCtrl.Param.Byte[1]; |
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| 327 | dynamicParams.KalmanMaxDrift = fromNaviCtrl.Param.Byte[2]; |
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| 328 | NCSerialDataOkay = fromNaviCtrl.Param.Byte[3]; |
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| 329 | break; |
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| 330 | |||
| 331 | default: |
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| 332 | break; |
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| 333 | } |
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| 334 | } else { // no valid data from NaviCtrl |
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| 335 | // disable GPS control |
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| 336 | GPSStickPitch = 0; |
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| 337 | GPSStickRoll = 0; |
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| 338 | } |
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| 1612 | dongfang | 339 | } |
| 340 | |||
| 341 | /*********************************************/ |
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| 342 | /* Start Transmission of packet to NaviCtrl */ |
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| 343 | /*********************************************/ |
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| 1821 | - | 344 | void SPI_StartTransmitPacket(void) { |
| 345 | if (!SPITransferCompleted) |
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| 346 | return; // return immediately if transfer is in progress |
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| 347 | else // transmission was completed |
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| 348 | { |
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| 349 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
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| 350 | |||
| 351 | // cyclic commands |
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| 352 | toNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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| 353 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) |
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| 354 | SPI_CommandCounter = 0; |
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| 355 | |||
| 356 | SPITransferCompleted = 0; // transfer is in progress |
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| 357 | UpdateSPI_Buffer(); // update data in toNaviCtrl |
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| 358 | |||
| 359 | SPI_TxBufferIndex = 1; //proceed with 2nd byte |
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| 360 | |||
| 361 | // -- Debug-Output --- |
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| 362 | //---- |
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| 363 | asm volatile ("nop"); |
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| 364 | asm volatile ("nop"); |
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| 365 | asm volatile ("nop"); |
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| 366 | asm volatile ("nop"); |
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| 367 | asm volatile ("nop"); |
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| 368 | asm volatile ("nop"); |
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| 369 | asm volatile ("nop"); |
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| 370 | asm volatile ("nop"); |
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| 371 | asm volatile ("nop"); |
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| 372 | asm volatile ("nop"); |
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| 373 | asm volatile ("nop"); |
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| 374 | asm volatile ("nop"); |
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| 375 | asm volatile ("nop"); |
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| 376 | asm volatile ("nop"); |
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| 377 | asm volatile ("nop"); |
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| 378 | asm volatile ("nop"); |
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| 379 | asm volatile ("nop"); |
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| 380 | asm volatile ("nop"); |
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| 381 | asm volatile ("nop"); |
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| 382 | asm volatile ("nop"); |
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| 383 | asm volatile ("nop"); |
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| 384 | asm volatile ("nop"); |
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| 385 | asm volatile ("nop"); |
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| 386 | asm volatile ("nop"); |
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| 387 | toNaviCtrl.Chksum = toNaviCtrl.Sync1; // init checksum |
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| 388 | SPDR = toNaviCtrl.Sync1; // send first byte |
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| 389 | } |
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| 1612 | dongfang | 390 | } |
| 391 | |||
| 392 | //------------------------------------------------------ |
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| 393 | // This is the spi data transfer between FlightCtrl and NaviCtrl |
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| 394 | // Every time this routine is called within the mainloop one byte of the packet to |
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| 395 | // the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
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| 396 | |||
| 397 | void SPI_TransmitByte(void) { |
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| 1821 | - | 398 | static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
| 399 | uint8_t rxdata; |
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| 400 | static uint8_t rxchksum; |
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| 401 | |||
| 402 | if (SPITransferCompleted) |
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| 403 | return; // return immediatly if transfer was completed |
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| 404 | if (!(SPSR & (1 << SPIF))) |
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| 405 | return; // return if no SPI-IRQ pending |
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| 406 | SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
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| 407 | |||
| 408 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
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| 409 | |||
| 410 | rxdata = SPDR; // save spi data register |
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| 411 | |||
| 412 | switch (SPI_RXState) { |
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| 413 | case SPI_SYNC1: // first sync byte |
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| 414 | SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
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| 415 | rxchksum = rxdata; // initialize checksum |
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| 416 | if (rxdata == SPI_RXSYNCBYTE1) { // 1st Syncbyte found |
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| 417 | SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
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| 418 | } |
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| 419 | break; |
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| 420 | |||
| 421 | case SPI_SYNC2: // second sync byte |
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| 422 | if (rxdata == SPI_RXSYNCBYTE2) { // 2nd Syncbyte found |
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| 423 | rxchksum += rxdata; // update checksum |
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| 424 | SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
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| 425 | } else // 2nd Syncbyte not found |
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| 426 | { |
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| 427 | SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
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| 428 | } |
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| 429 | break; |
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| 430 | |||
| 431 | case SPI_DATA: // data bytes |
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| 432 | SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
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| 433 | // if all bytes are received of a packet from the NaviCtrl |
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| 434 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) { // last byte transfered is the checksum of the packet |
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| 435 | if (rxdata == rxchksum) { // checksum matching? |
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| 436 | // copy SPI_RxBuffer -> FromFlightCtrl |
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| 437 | uint8_t *ptr = (uint8_t *) &fromNaviCtrl; |
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| 438 | cli(); |
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| 439 | memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(fromNaviCtrl)); |
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| 440 | sei(); |
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| 441 | SPI_RxDataValid = 1; |
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| 442 | } else { // checksum does not match |
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| 443 | SPI_RxDataValid = 0; // reset valid flag |
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| 444 | } |
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| 445 | SPI_RXState = SPI_SYNC1; // reset state sync |
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| 446 | } else { // not all bytes transfered |
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| 447 | rxchksum += rxdata; // update checksum |
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| 448 | } |
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| 449 | break; |
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| 450 | }// eof switch(SPI_RXState) |
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| 451 | |||
| 452 | // if still some bytes left for transmission to NaviCtrl |
||
| 453 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) { |
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| 454 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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| 455 | asm volatile ("nop"); |
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| 456 | asm volatile ("nop"); |
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| 457 | asm volatile ("nop"); |
||
| 458 | asm volatile ("nop"); |
||
| 459 | asm volatile ("nop"); |
||
| 460 | asm volatile ("nop"); |
||
| 461 | asm volatile ("nop"); |
||
| 462 | asm volatile ("nop"); |
||
| 463 | asm volatile ("nop"); |
||
| 464 | asm volatile ("nop"); |
||
| 465 | asm volatile ("nop"); |
||
| 466 | asm volatile ("nop"); |
||
| 467 | asm volatile ("nop"); |
||
| 468 | asm volatile ("nop"); |
||
| 469 | asm volatile ("nop"); |
||
| 470 | asm volatile ("nop"); |
||
| 471 | asm volatile ("nop"); |
||
| 472 | asm volatile ("nop"); |
||
| 473 | asm volatile ("nop"); |
||
| 474 | asm volatile ("nop"); |
||
| 475 | asm volatile ("nop"); |
||
| 476 | asm volatile ("nop"); |
||
| 477 | asm volatile ("nop"); |
||
| 478 | asm volatile ("nop"); |
||
| 479 | |||
| 480 | SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
||
| 481 | toNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
||
| 482 | SPI_TxBufferIndex++; |
||
| 483 | } else { |
||
| 484 | //Transfer of all bytes of the packet to NaviCtrl completed |
||
| 485 | SPITransferCompleted = 1; |
||
| 486 | } |
||
| 1612 | dongfang | 487 | } |