Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

// + Nur f�r den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,

// + Verkauf von Luftbildaufnahmen, usw.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zul�ssig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <avr/io.h>

#include <avr/interrupt.h>

#include <string.h>

#include <stdlib.h>

#include "spi.h"

#include "rc.h"

#include "eeprom.h"

#include "timer0.h"

#include "analog.h"

#include "attitude.h"

#include "flight.h"

//-----------------------------------------

// for compatibility reasons gcc3.x <-> gcc4.x

// dongfang: Lets try to abandon GCC3.

/*

#ifndef SPCR

#define SPCR   SPCR0

#endif

#ifndef SPIE

#define SPIE   SPIE0

#endif

#ifndef SPE

#define SPE    SPE0

#endif

#ifndef DORD

#define DORD   DORD0

#endif

#ifndef MSTR

#define MSTR   MSTR0

#endif

#ifndef CPOL

#define CPOL   CPOL0

#endif

#ifndef CPHA

#define CPHA   CPHA0

#endif

#ifndef SPR1

#define SPR1   SPR01

#endif

#ifndef SPR0

#define SPR0   SPR00

#endif

#ifndef SPDR

#define SPDR   SPDR0

#endif

#ifndef SPSR

#define SPSR   SPSR0

#endif

#ifndef SPIF

#define SPIF   SPIF0

#endif

#ifndef WCOL

#define WCOL   WCOL0

#endif

#ifndef SPI2X

#define SPI2X  SPI2X0

#endif

*/

// -------------------------

#define DDR_SPI DDRB

#define DD_SS   PB4

#define DD_SCK  PB7

#define DD_MOSI PB5

#define DD_MISO PB6

#define SLAVE_SELECT_DDR_PORT   DDRC

#define SLAVE_SELECT_PORT       PORTC

#define SPI_SLAVE_SELECT        PC5

#define SPI_TXSYNCBYTE1 0xAA

#define SPI_TXSYNCBYTE2 0x83

#define SPI_RXSYNCBYTE1 0x81

#define SPI_RXSYNCBYTE2 0x55

typedef enum {

        SPI_SYNC1, SPI_SYNC2, SPI_DATA

} SPI_RXState_t;

// data exchange packets to and From NaviCtrl

ToNaviCtrl_t toNaviCtrl;

FromNaviCtrl_t fromNaviCtrl;

SPI_VersionInfo_t SPI_VersionInfo;

// rx packet buffer

#define SPI_RXBUFFER_LEN sizeof(fromNaviCtrl)

uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN];

uint8_t SPI_RxBufferIndex = 0;

uint8_t SPI_RxBuffer_Request = 0;

// tx packet buffer

#define SPI_TXBUFFER_LEN sizeof(toNaviCtrl)

uint8_t *SPI_TxBuffer;

uint8_t SPI_TxBufferIndex = 0;

uint8_t SPITransferCompleted, SPI_ChkSum;

uint8_t SPI_RxDataValid = 0;

uint8_t NCDataOkay = 0;

uint8_t NCSerialDataOkay = 0;

uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK,

                SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION };

uint8_t SPI_CommandCounter = 0;

/*********************************************/

/*  Initialize SPI interface to NaviCtrl     */

/*********************************************/

void SPI_MasterInit(void) {

        DDR_SPI |= (1 << DD_MOSI) | (1 << DD_SCK); // Set MOSI and SCK output, all others input

        SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port

        SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (0 << SPR0) | (0 << SPIE); // Enable SPI, Master, set clock rate fck/64

        SPSR = 0;//(1<<SPI2X);

        SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave

        SPI_TxBuffer = (uint8_t *) &toNaviCtrl; // set pointer to tx-buffer

        SPITransferCompleted = 1;

        // initialize data packet to NaviControl

        toNaviCtrl.sync1 = SPI_TXSYNCBYTE1;

        toNaviCtrl.sync2 = SPI_TXSYNCBYTE2;

        toNaviCtrl.command = SPI_CMD_USER;

        toNaviCtrl.integralPitch = 0;

        toNaviCtrl.integralRoll = 0;

        naviCtrlData.serialDataOkay = 0;

        //NCSerialDataOkay = 0;

        //NCDataOkay = 0;

        SPI_RxDataValid = 0;

        //SPI_VersionInfo.Major = VERSION_MAJOR;

        //SPI_VersionInfo.Minor = VERSION_MINOR;

        //SPI_VersionInfo.Patch = VERSION_PATCH;

        //SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE;

}

/**********************************************************/

/*  Update Data transfered by the SPI from/to NaviCtrl     */

/**********************************************************/

void updateSPI_Buffer(void) {

        uint8_t i;

        int16_t tmp;

        cli();

        // stop all interrupts to avoid writing of new data during update of that packet.

        // update content of packet to NaviCtrl

        // Scaling?

        toNaviCtrl.integralPitch = (angle[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1�

        // Scaling?

        toNaviCtrl.integralRoll =  (angle[ROLL]   / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1�

        // Scaling?

        toNaviCtrl.gyroHeading =   (yawGyroHeading / (GYRO_DEG_FACTOR_YAW / 10));     // convert to multiple of 0.1�

        // Scaling?

        toNaviCtrl.gyroPitch = rate_ATT[PITCH];

        // Scaling?

        toNaviCtrl.gyroRoll = rate_ATT[ROLL];

        // Scaling?

        toNaviCtrl.gyroYaw = yawRate;

        // Scaling?

        toNaviCtrl.accPitch = getAngleEstimateFromAcc(PITCH) / (GYRO_DEG_FACTOR_PITCHROLL/10); // convert to multiple of 0.1�

        // Scaling?

        toNaviCtrl.AccRoll =  getAngleEstimateFromAcc(ROLL)  / (GYRO_DEG_FACTOR_PITCHROLL/10);

        // TODO: What are these little bastards?

        averageAcc[PITCH] = averageAcc[ROLL] = averageAccCount = 0;

        switch (toNaviCtrl.command) {

        case SPI_CMD_USER:

                for (i = 0; i < sizeof(dynamicParams.userParams); i++) {

                        toNaviCtrl.param.asByte[i] = dynamicParams.userParams[i];

                }

                toNaviCtrl.Param.Byte[8] = MKFlags;

                MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting

                toNaviCtrl.Param.Byte[9]  = getActiveParamSet();

                toNaviCtrl.Param.Byte[10] = 10; //EE_Parameter.ComingHomeAltitude;

                toNaviCtrl.Param.Byte[11] = 0;  //FC_StatusFlags2;

                break;

        case SPI_CMD_PARAMETER1:

                toNaviCtrl.Param.Byte[0] = staticParams.NaviGpsModeControl; // Parameters for the Naviboard

                toNaviCtrl.Param.Byte[1] = staticParams.NaviGpsGain;

                toNaviCtrl.Param.Byte[2] = staticParams.NaviGpsP;

                toNaviCtrl.Param.Byte[3] = staticParams.NaviGpsI;

                toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsD;

                toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsACC;

                toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsMinSat;

                toNaviCtrl.Param.Byte[7] = staticParams.NaviStickThreshold;

                toNaviCtrl.Param.Byte[8] = staticParams.NaviOperatingRadius;

                toNaviCtrl.Param.Byte[9] = staticParams.NaviWindCorrection;

                toNaviCtrl.Param.Byte[10] = staticParams.NaviSpeedCompensation;

                toNaviCtrl.Param.Byte[11] = staticParams.NaviAngleLimitation;

                break;

        case SPI_CMD_STICK:

                tmp = PPM_in[staticParams.ChannelAssignment[CH_THROTTLE]];

                if (tmp > 127)

                        tmp = 127;

                else if (tmp < -128)

                        tmp = -128;

                toNaviCtrl.Param.Byte[0] = (int8_t) tmp;

                tmp = PPM_in[staticParams.ChannelAssignment[CH_YAW]];

                if (tmp > 127)

                        tmp = 127;

                else if (tmp < -128)

                        tmp = -128;

                toNaviCtrl.Param.Byte[1] = (int8_t) tmp;

                tmp = PPM_in[staticParams.ChannelAssignment[CH_ROLL]];

                if (tmp > 127)

                        tmp = 127;

                else if (tmp < -128)

                        tmp = -128;

                toNaviCtrl.Param.Byte[2] = (int8_t) tmp;

                tmp = PPM_in[staticParams.ChannelAssignment[CH_PITCH]];

                if (tmp > 127)

                        tmp = 127;

                else if (tmp < -128)

                        tmp = -128;

                toNaviCtrl.Param.Byte[3] = (int8_t) tmp;

                toNaviCtrl.Param.Byte[4] = (uint8_t) variables[0];

                toNaviCtrl.Param.Byte[5] = (uint8_t) variables[1];

                toNaviCtrl.Param.Byte[6] = (uint8_t) variables[2];

                toNaviCtrl.Param.Byte[7] = (uint8_t) variables[3];

                toNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality;

                break;

        case SPI_CMD_MISC:

                toNaviCtrl.Param.Byte[0] = compassCalState;

                if (compassCalState > 4) { // jump from 5 to 0

                        compassCalState = 0;

                }

                toNaviCtrl.Param.Byte[1] = staticParams.NaviPHLoginTime;

                // TODO: Height and in the correct scaling...

                toNaviCtrl.Param.Int[1] = 0; //readingHeight; // at address of Byte 2 and 3

                toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsPLimit;

                toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsILimit;

                toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsDLimit;

                break;

        case SPI_CMD_VERSION:

                toNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;

                toNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;

                toNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;

                toNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;

                toNaviCtrl.Param.Byte[4] = boardRelease;

                break;

        default:

                break;

        }

        sei();

        // enable all interrupts

        // analyze content of packet from NaviCtrl if valid

        if (SPI_RxDataValid) {

                // update gps controls

                if (abs(fromNaviCtrl.GPSStickPitch) < 512 && abs(fromNaviCtrl.GPSStickRoll)

                                < 512 && (staticParams.GlobalConfig & CFG_GPS_ACTIVE)) {

                        GPSStickPitch = fromNaviCtrl.GPSStickPitch;

                        GPSStickRoll = fromNaviCtrl.GPSStickRoll;

                        NCDataOkay = 250;

                }

                // update compass readings

                if (fromNaviCtrl.CompassHeading <= 360) {

                        compassHeading = fromNaviCtrl.CompassHeading;

                }

                //if(compassHeading < 0) compassOffCourse = 0;

                //else compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;

                // NaviCtrl wants to beep?

                if (fromNaviCtrl.BeepTime > BeepTime && !compassCalState)

                        BeepTime = fromNaviCtrl.BeepTime;

                switch (fromNaviCtrl.Command) {

                case SPI_KALMAN:

                        dynamicParams.KalmanK = fromNaviCtrl.Param.Byte[0];

                        dynamicParams.KalmanMaxFusion = fromNaviCtrl.Param.Byte[1];

                        dynamicParams.KalmanMaxDrift = fromNaviCtrl.Param.Byte[2];

                        NCSerialDataOkay = fromNaviCtrl.Param.Byte[3];

                        break;

                default:

                        break;

                }

        } else { // no valid data from NaviCtrl

                // disable GPS control

                GPSStickPitch = 0;

                GPSStickRoll = 0;

        }

}

/*********************************************/

/*  Start Transmission of packet to NaviCtrl */

/*********************************************/

void SPI_StartTransmitPacket(void) {

        if (!SPITransferCompleted)

                return; // return immediately if transfer is in progress

        else // transmission was completed

        {

                SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave

                // cyclic commands

                toNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];

                if (SPI_CommandCounter >= sizeof(SPI_CommandSequence))

                        SPI_CommandCounter = 0;

                SPITransferCompleted = 0; // transfer is in progress

                UpdateSPI_Buffer(); // update data in toNaviCtrl

                SPI_TxBufferIndex = 1; //proceed with 2nd byte

                // -- Debug-Output ---

                //----

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                toNaviCtrl.Chksum = toNaviCtrl.Sync1; // init checksum

                SPDR = toNaviCtrl.Sync1; // send first byte

        }

}

//------------------------------------------------------

// This is the spi data transfer between FlightCtrl and NaviCtrl

// Every time this routine is called within the mainloop one byte of the packet to

// the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered

void SPI_TransmitByte(void) {

        static SPI_RXState_t SPI_RXState = SPI_SYNC1;

        uint8_t rxdata;

        static uint8_t rxchksum;

        if (SPITransferCompleted)

                return; // return immediatly if transfer was completed

        if (!(SPSR & (1 << SPIF)))

                return; // return if no SPI-IRQ pending

        SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop

        SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave

        rxdata = SPDR; // save spi data register

        switch (SPI_RXState) {

        case SPI_SYNC1: // first sync byte

                SPI_RxBufferIndex = 0; // set pointer to start of rx buffer

                rxchksum = rxdata; // initialize checksum

                if (rxdata == SPI_RXSYNCBYTE1) { // 1st Syncbyte found

                        SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte

                }

                break;

        case SPI_SYNC2: // second sync byte

                if (rxdata == SPI_RXSYNCBYTE2) { // 2nd Syncbyte found

                        rxchksum += rxdata; // update checksum

                        SPI_RXState = SPI_DATA; // trigger to state for second sync byte

                } else // 2nd Syncbyte not found

                {

                        SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte

                }

                break;

        case SPI_DATA: // data bytes

                SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer

                // if all bytes are received of a packet from the NaviCtrl

                if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) { // last byte transfered is the checksum of the packet

                        if (rxdata == rxchksum) { // checksum matching?

                                // copy SPI_RxBuffer -> FromFlightCtrl

                                uint8_t *ptr = (uint8_t *) &fromNaviCtrl;

                                cli();

                                memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(fromNaviCtrl));

                                sei();

                                SPI_RxDataValid = 1;

                        } else { // checksum does not match

                                SPI_RxDataValid = 0; // reset valid flag

                        }

                        SPI_RXState = SPI_SYNC1; // reset state sync

                } else { // not all bytes transfered

                        rxchksum += rxdata; // update checksum

                }

                break;

        }// eof switch(SPI_RXState)

        // if still some bytes left for transmission to NaviCtrl

        if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) {

                SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                asm volatile ("nop");

                SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte

                toNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent

                SPI_TxBufferIndex++;

        } else {

                //Transfer of all bytes of the packet to NaviCtrl completed

                SPITransferCompleted = 1;

        }

}