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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 2035 | - | 3 | // + Nur f�r den privaten Gebrauch |
| 1612 | dongfang | 4 | // + www.MikroKopter.com |
| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 2035 | - | 6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
| 7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist. |
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| 1612 | dongfang | 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 2035 | - | 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
| 1612 | dongfang | 11 | // + Verkauf von Luftbildaufnahmen, usw. |
| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 2035 | - | 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
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| 1612 | dongfang | 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 2035 | - | 17 | // + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 1612 | dongfang | 18 | // + eindeutig als Ursprung verlinkt werden |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 2035 | - | 20 | // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
| 1612 | dongfang | 21 | // + Benutzung auf eigene Gefahr |
| 2035 | - | 22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
| 1612 | dongfang | 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 2035 | - | 25 | // + mit unserer Zustimmung zul�ssig |
| 1612 | dongfang | 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 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 | |||
| 67 | // for compatibility reasons gcc3.x <-> gcc4.x |
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| 2035 | - | 68 | // dongfang: Lets try to abandon GCC3. |
| 69 | /* |
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| 1612 | dongfang | 70 | #ifndef SPCR |
| 71 | #define SPCR SPCR0 |
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| 72 | #endif |
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| 73 | #ifndef SPIE |
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| 74 | #define SPIE SPIE0 |
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| 75 | #endif |
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| 76 | #ifndef SPE |
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| 77 | #define SPE SPE0 |
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| 78 | #endif |
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| 79 | #ifndef DORD |
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| 80 | #define DORD DORD0 |
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| 81 | #endif |
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| 82 | #ifndef MSTR |
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| 83 | #define MSTR MSTR0 |
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| 84 | #endif |
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| 85 | #ifndef CPOL |
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| 86 | #define CPOL CPOL0 |
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| 87 | #endif |
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| 88 | #ifndef CPHA |
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| 89 | #define CPHA CPHA0 |
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| 90 | #endif |
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| 91 | #ifndef SPR1 |
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| 92 | #define SPR1 SPR01 |
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| 93 | #endif |
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| 94 | #ifndef SPR0 |
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| 95 | #define SPR0 SPR00 |
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| 96 | #endif |
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| 97 | |||
| 98 | #ifndef SPDR |
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| 99 | #define SPDR SPDR0 |
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| 100 | #endif |
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| 101 | |||
| 102 | #ifndef SPSR |
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| 103 | #define SPSR SPSR0 |
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| 104 | #endif |
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| 105 | #ifndef SPIF |
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| 106 | #define SPIF SPIF0 |
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| 107 | #endif |
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| 108 | #ifndef WCOL |
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| 109 | #define WCOL WCOL0 |
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| 110 | #endif |
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| 1775 | - | 111 | #ifndef SPI2X |
| 1612 | dongfang | 112 | #define SPI2X SPI2X0 |
| 1775 | - | 113 | #endif |
| 2035 | - | 114 | */ |
| 1612 | dongfang | 115 | // ------------------------- |
| 2035 | - | 116 | #define DDR_SPI DDRB |
| 117 | #define DD_SS PB4 |
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| 118 | #define DD_SCK PB7 |
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| 119 | #define DD_MOSI PB5 |
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| 120 | #define DD_MISO PB6 |
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| 1612 | dongfang | 121 | |
| 122 | #define SLAVE_SELECT_DDR_PORT DDRC |
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| 123 | #define SLAVE_SELECT_PORT PORTC |
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| 124 | #define SPI_SLAVE_SELECT PC5 |
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| 125 | |||
| 126 | #define SPI_TXSYNCBYTE1 0xAA |
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| 127 | #define SPI_TXSYNCBYTE2 0x83 |
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| 128 | #define SPI_RXSYNCBYTE1 0x81 |
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| 129 | #define SPI_RXSYNCBYTE2 0x55 |
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| 130 | |||
| 1775 | - | 131 | typedef enum { |
| 1821 | - | 132 | SPI_SYNC1, SPI_SYNC2, SPI_DATA |
| 1775 | - | 133 | } SPI_RXState_t; |
| 1612 | dongfang | 134 | |
| 135 | // data exchange packets to and From NaviCtrl |
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| 1821 | - | 136 | ToNaviCtrl_t toNaviCtrl; |
| 137 | FromNaviCtrl_t fromNaviCtrl; |
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| 138 | SPI_VersionInfo_t SPI_VersionInfo; |
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| 1612 | dongfang | 139 | |
| 140 | // rx packet buffer |
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| 1775 | - | 141 | #define SPI_RXBUFFER_LEN sizeof(fromNaviCtrl) |
| 1612 | dongfang | 142 | uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
| 1821 | - | 143 | uint8_t SPI_RxBufferIndex = 0; |
| 1612 | dongfang | 144 | uint8_t SPI_RxBuffer_Request = 0; |
| 145 | |||
| 146 | // tx packet buffer |
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| 1775 | - | 147 | #define SPI_TXBUFFER_LEN sizeof(toNaviCtrl) |
| 1612 | dongfang | 148 | uint8_t *SPI_TxBuffer; |
| 1821 | - | 149 | uint8_t SPI_TxBufferIndex = 0; |
| 1612 | dongfang | 150 | |
| 151 | uint8_t SPITransferCompleted, SPI_ChkSum; |
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| 152 | uint8_t SPI_RxDataValid = 0; |
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| 153 | uint8_t NCDataOkay = 0; |
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| 154 | uint8_t NCSerialDataOkay = 0; |
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| 155 | |||
| 1821 | - | 156 | uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, |
| 157 | SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
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| 1612 | dongfang | 158 | uint8_t SPI_CommandCounter = 0; |
| 159 | |||
| 160 | /*********************************************/ |
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| 161 | /* Initialize SPI interface to NaviCtrl */ |
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| 162 | /*********************************************/ |
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| 163 | void SPI_MasterInit(void) { |
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| 1821 | - | 164 | DDR_SPI |= (1 << DD_MOSI) | (1 << DD_SCK); // Set MOSI and SCK output, all others input |
| 165 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
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| 166 | |||
| 167 | SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (0 << SPR0) | (0 << SPIE); // Enable SPI, Master, set clock rate fck/64 |
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| 168 | SPSR = 0;//(1<<SPI2X); |
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| 169 | |||
| 170 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave |
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| 171 | |||
| 172 | SPI_TxBuffer = (uint8_t *) &toNaviCtrl; // set pointer to tx-buffer |
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| 173 | SPITransferCompleted = 1; |
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| 174 | // initialize data packet to NaviControl |
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| 2035 | - | 175 | toNaviCtrl.sync1 = SPI_TXSYNCBYTE1; |
| 176 | toNaviCtrl.sync2 = SPI_TXSYNCBYTE2; |
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| 1821 | - | 177 | |
| 2035 | - | 178 | toNaviCtrl.command = SPI_CMD_USER; |
| 179 | toNaviCtrl.integralPitch = 0; |
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| 180 | toNaviCtrl.integralRoll = 0; |
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| 181 | naviCtrlData.serialDataOkay = 0; |
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| 182 | //NCSerialDataOkay = 0; |
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| 183 | //NCDataOkay = 0; |
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| 1821 | - | 184 | |
| 185 | SPI_RxDataValid = 0; |
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| 186 | |||
| 2035 | - | 187 | //SPI_VersionInfo.Major = VERSION_MAJOR; |
| 188 | //SPI_VersionInfo.Minor = VERSION_MINOR; |
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| 189 | //SPI_VersionInfo.Patch = VERSION_PATCH; |
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| 190 | //SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
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| 1612 | dongfang | 191 | } |
| 192 | |||
| 193 | /**********************************************************/ |
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| 2035 | - | 194 | /* Update Data transfered by the SPI from/to NaviCtrl */ |
| 1612 | dongfang | 195 | /**********************************************************/ |
| 2035 | - | 196 | void updateSPI_Buffer(void) { |
| 1821 | - | 197 | uint8_t i; |
| 198 | int16_t tmp; |
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| 199 | cli(); |
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| 200 | // stop all interrupts to avoid writing of new data during update of that packet. |
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| 1775 | - | 201 | |
| 1821 | - | 202 | // update content of packet to NaviCtrl |
| 2035 | - | 203 | // Scaling? |
| 204 | toNaviCtrl.integralPitch = (angle[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1� |
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| 205 | // Scaling? |
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| 206 | toNaviCtrl.integralRoll = (angle[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1� |
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| 207 | // Scaling? |
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| 208 | toNaviCtrl.gyroHeading = (yawGyroHeading / (GYRO_DEG_FACTOR_YAW / 10)); // convert to multiple of 0.1� |
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| 209 | // Scaling? |
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| 210 | toNaviCtrl.gyroPitch = rate_ATT[PITCH]; |
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| 211 | // Scaling? |
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| 212 | toNaviCtrl.gyroRoll = rate_ATT[ROLL]; |
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| 213 | // Scaling? |
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| 214 | toNaviCtrl.gyroYaw = yawRate; |
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| 215 | // Scaling? |
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| 216 | toNaviCtrl.accPitch = getAngleEstimateFromAcc(PITCH) / (GYRO_DEG_FACTOR_PITCHROLL/10); // convert to multiple of 0.1� |
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| 217 | // Scaling? |
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| 218 | toNaviCtrl.AccRoll = getAngleEstimateFromAcc(ROLL) / (GYRO_DEG_FACTOR_PITCHROLL/10); |
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| 1612 | dongfang | 219 | |
| 1821 | - | 220 | // TODO: What are these little bastards? |
| 221 | |||
| 222 | averageAcc[PITCH] = averageAcc[ROLL] = averageAccCount = 0; |
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| 223 | |||
| 2035 | - | 224 | switch (toNaviCtrl.command) { |
| 1821 | - | 225 | case SPI_CMD_USER: |
| 2035 | - | 226 | for (i = 0; i < sizeof(dynamicParams.userParams); i++) { |
| 227 | toNaviCtrl.param.asByte[i] = dynamicParams.userParams[i]; |
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| 1821 | - | 228 | } |
| 229 | toNaviCtrl.Param.Byte[8] = MKFlags; |
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| 230 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting |
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| 2035 | - | 231 | toNaviCtrl.Param.Byte[9] = getActiveParamSet(); |
| 232 | toNaviCtrl.Param.Byte[10] = 10; //EE_Parameter.ComingHomeAltitude; |
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| 233 | toNaviCtrl.Param.Byte[11] = 0; //FC_StatusFlags2; |
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| 1821 | - | 234 | break; |
| 235 | |||
| 236 | case SPI_CMD_PARAMETER1: |
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| 237 | toNaviCtrl.Param.Byte[0] = staticParams.NaviGpsModeControl; // Parameters for the Naviboard |
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| 238 | toNaviCtrl.Param.Byte[1] = staticParams.NaviGpsGain; |
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| 239 | toNaviCtrl.Param.Byte[2] = staticParams.NaviGpsP; |
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| 240 | toNaviCtrl.Param.Byte[3] = staticParams.NaviGpsI; |
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| 241 | toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsD; |
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| 242 | toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsACC; |
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| 243 | toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsMinSat; |
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| 244 | toNaviCtrl.Param.Byte[7] = staticParams.NaviStickThreshold; |
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| 245 | toNaviCtrl.Param.Byte[8] = staticParams.NaviOperatingRadius; |
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| 246 | toNaviCtrl.Param.Byte[9] = staticParams.NaviWindCorrection; |
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| 247 | toNaviCtrl.Param.Byte[10] = staticParams.NaviSpeedCompensation; |
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| 248 | toNaviCtrl.Param.Byte[11] = staticParams.NaviAngleLimitation; |
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| 249 | break; |
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| 250 | |||
| 251 | case SPI_CMD_STICK: |
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| 252 | tmp = PPM_in[staticParams.ChannelAssignment[CH_THROTTLE]]; |
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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[0] = (int8_t) tmp; |
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| 258 | tmp = PPM_in[staticParams.ChannelAssignment[CH_YAW]]; |
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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[1] = (int8_t) tmp; |
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| 264 | tmp = PPM_in[staticParams.ChannelAssignment[CH_ROLL]]; |
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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[2] = (int8_t) tmp; |
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| 270 | tmp = PPM_in[staticParams.ChannelAssignment[CH_PITCH]]; |
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| 271 | if (tmp > 127) |
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| 272 | tmp = 127; |
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| 273 | else if (tmp < -128) |
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| 274 | tmp = -128; |
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| 275 | toNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
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| 276 | toNaviCtrl.Param.Byte[4] = (uint8_t) variables[0]; |
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| 277 | toNaviCtrl.Param.Byte[5] = (uint8_t) variables[1]; |
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| 278 | toNaviCtrl.Param.Byte[6] = (uint8_t) variables[2]; |
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| 279 | toNaviCtrl.Param.Byte[7] = (uint8_t) variables[3]; |
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| 280 | toNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
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| 281 | break; |
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| 282 | |||
| 283 | case SPI_CMD_MISC: |
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| 284 | toNaviCtrl.Param.Byte[0] = compassCalState; |
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| 285 | if (compassCalState > 4) { // jump from 5 to 0 |
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| 286 | compassCalState = 0; |
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| 287 | } |
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| 288 | toNaviCtrl.Param.Byte[1] = staticParams.NaviPHLoginTime; |
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| 289 | // TODO: Height and in the correct scaling... |
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| 290 | toNaviCtrl.Param.Int[1] = 0; //readingHeight; // at address of Byte 2 and 3 |
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| 291 | toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsPLimit; |
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| 292 | toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsILimit; |
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| 293 | toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsDLimit; |
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| 294 | break; |
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| 295 | |||
| 296 | case SPI_CMD_VERSION: |
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| 297 | toNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
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| 298 | toNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
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| 299 | toNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
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| 300 | toNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
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| 301 | toNaviCtrl.Param.Byte[4] = BoardRelease; |
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| 302 | break; |
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| 303 | default: |
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| 304 | break; |
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| 305 | } |
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| 306 | |||
| 307 | sei(); |
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| 308 | // enable all interrupts |
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| 309 | |||
| 310 | // analyze content of packet from NaviCtrl if valid |
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| 311 | if (SPI_RxDataValid) { |
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| 312 | // update gps controls |
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| 313 | if (abs(fromNaviCtrl.GPSStickPitch) < 512 && abs(fromNaviCtrl.GPSStickRoll) |
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| 314 | < 512 && (staticParams.GlobalConfig & CFG_GPS_ACTIVE)) { |
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| 315 | GPSStickPitch = fromNaviCtrl.GPSStickPitch; |
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| 316 | GPSStickRoll = fromNaviCtrl.GPSStickRoll; |
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| 317 | NCDataOkay = 250; |
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| 318 | } |
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| 319 | // update compass readings |
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| 320 | if (fromNaviCtrl.CompassHeading <= 360) { |
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| 321 | compassHeading = fromNaviCtrl.CompassHeading; |
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| 322 | } |
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| 323 | //if(compassHeading < 0) compassOffCourse = 0; |
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| 324 | //else compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
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| 325 | // NaviCtrl wants to beep? |
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| 326 | if (fromNaviCtrl.BeepTime > BeepTime && !compassCalState) |
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| 327 | BeepTime = fromNaviCtrl.BeepTime; |
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| 328 | |||
| 329 | switch (fromNaviCtrl.Command) { |
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| 330 | case SPI_KALMAN: |
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| 331 | dynamicParams.KalmanK = fromNaviCtrl.Param.Byte[0]; |
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| 332 | dynamicParams.KalmanMaxFusion = fromNaviCtrl.Param.Byte[1]; |
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| 333 | dynamicParams.KalmanMaxDrift = fromNaviCtrl.Param.Byte[2]; |
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| 334 | NCSerialDataOkay = fromNaviCtrl.Param.Byte[3]; |
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| 335 | break; |
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| 336 | |||
| 337 | default: |
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| 338 | break; |
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| 339 | } |
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| 340 | } else { // no valid data from NaviCtrl |
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| 341 | // disable GPS control |
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| 342 | GPSStickPitch = 0; |
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| 343 | GPSStickRoll = 0; |
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| 344 | } |
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| 1612 | dongfang | 345 | } |
| 346 | |||
| 347 | /*********************************************/ |
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| 348 | /* Start Transmission of packet to NaviCtrl */ |
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| 349 | /*********************************************/ |
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| 1821 | - | 350 | void SPI_StartTransmitPacket(void) { |
| 351 | if (!SPITransferCompleted) |
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| 352 | return; // return immediately if transfer is in progress |
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| 353 | else // transmission was completed |
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| 354 | { |
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| 355 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
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| 356 | |||
| 357 | // cyclic commands |
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| 358 | toNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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| 359 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) |
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| 360 | SPI_CommandCounter = 0; |
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| 361 | |||
| 362 | SPITransferCompleted = 0; // transfer is in progress |
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| 363 | UpdateSPI_Buffer(); // update data in toNaviCtrl |
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| 364 | |||
| 365 | SPI_TxBufferIndex = 1; //proceed with 2nd byte |
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| 366 | |||
| 367 | // -- Debug-Output --- |
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| 368 | //---- |
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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 | asm volatile ("nop"); |
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| 388 | asm volatile ("nop"); |
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| 389 | asm volatile ("nop"); |
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| 390 | asm volatile ("nop"); |
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| 391 | asm volatile ("nop"); |
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| 392 | asm volatile ("nop"); |
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| 393 | toNaviCtrl.Chksum = toNaviCtrl.Sync1; // init checksum |
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| 394 | SPDR = toNaviCtrl.Sync1; // send first byte |
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| 395 | } |
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| 1612 | dongfang | 396 | } |
| 397 | |||
| 398 | //------------------------------------------------------ |
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| 399 | // This is the spi data transfer between FlightCtrl and NaviCtrl |
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| 400 | // Every time this routine is called within the mainloop one byte of the packet to |
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| 401 | // the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
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| 402 | |||
| 403 | void SPI_TransmitByte(void) { |
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| 1821 | - | 404 | static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
| 405 | uint8_t rxdata; |
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| 406 | static uint8_t rxchksum; |
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| 407 | |||
| 408 | if (SPITransferCompleted) |
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| 409 | return; // return immediatly if transfer was completed |
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| 410 | if (!(SPSR & (1 << SPIF))) |
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| 411 | return; // return if no SPI-IRQ pending |
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| 412 | SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
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| 413 | |||
| 414 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
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| 415 | |||
| 416 | rxdata = SPDR; // save spi data register |
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| 417 | |||
| 418 | switch (SPI_RXState) { |
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| 419 | case SPI_SYNC1: // first sync byte |
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| 420 | SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
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| 421 | rxchksum = rxdata; // initialize checksum |
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| 422 | if (rxdata == SPI_RXSYNCBYTE1) { // 1st Syncbyte found |
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| 423 | SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
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| 424 | } |
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| 425 | break; |
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| 426 | |||
| 427 | case SPI_SYNC2: // second sync byte |
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| 428 | if (rxdata == SPI_RXSYNCBYTE2) { // 2nd Syncbyte found |
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| 429 | rxchksum += rxdata; // update checksum |
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| 430 | SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
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| 431 | } else // 2nd Syncbyte not found |
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| 432 | { |
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| 433 | SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
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| 434 | } |
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| 435 | break; |
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| 436 | |||
| 437 | case SPI_DATA: // data bytes |
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| 438 | SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
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| 439 | // if all bytes are received of a packet from the NaviCtrl |
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| 440 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) { // last byte transfered is the checksum of the packet |
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| 441 | if (rxdata == rxchksum) { // checksum matching? |
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| 442 | // copy SPI_RxBuffer -> FromFlightCtrl |
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| 443 | uint8_t *ptr = (uint8_t *) &fromNaviCtrl; |
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| 444 | cli(); |
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| 445 | memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(fromNaviCtrl)); |
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| 446 | sei(); |
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| 447 | SPI_RxDataValid = 1; |
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| 448 | } else { // checksum does not match |
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| 449 | SPI_RxDataValid = 0; // reset valid flag |
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| 450 | } |
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| 451 | SPI_RXState = SPI_SYNC1; // reset state sync |
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| 452 | } else { // not all bytes transfered |
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| 453 | rxchksum += rxdata; // update checksum |
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| 454 | } |
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| 455 | break; |
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| 456 | }// eof switch(SPI_RXState) |
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| 457 | |||
| 458 | // if still some bytes left for transmission to NaviCtrl |
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| 459 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) { |
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| 460 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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| 461 | asm volatile ("nop"); |
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| 462 | asm volatile ("nop"); |
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| 463 | asm volatile ("nop"); |
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| 464 | asm volatile ("nop"); |
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| 465 | asm volatile ("nop"); |
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| 466 | asm volatile ("nop"); |
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| 467 | asm volatile ("nop"); |
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| 468 | asm volatile ("nop"); |
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| 469 | asm volatile ("nop"); |
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| 470 | asm volatile ("nop"); |
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| 471 | asm volatile ("nop"); |
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| 472 | asm volatile ("nop"); |
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| 473 | asm volatile ("nop"); |
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| 474 | asm volatile ("nop"); |
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| 475 | asm volatile ("nop"); |
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| 476 | asm volatile ("nop"); |
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| 477 | asm volatile ("nop"); |
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| 478 | asm volatile ("nop"); |
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| 479 | asm volatile ("nop"); |
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| 480 | asm volatile ("nop"); |
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| 481 | asm volatile ("nop"); |
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| 482 | asm volatile ("nop"); |
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| 483 | asm volatile ("nop"); |
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| 484 | asm volatile ("nop"); |
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| 485 | |||
| 486 | SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
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| 487 | toNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
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| 488 | SPI_TxBufferIndex++; |
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| 489 | } else { |
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| 490 | //Transfer of all bytes of the packet to NaviCtrl completed |
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| 491 | SPITransferCompleted = 1; |
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| 492 | } |
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| 1612 | dongfang | 493 | } |