Subversion Repositories FlightCtrl

// ######################## SPI - FlightCtrl ###################

#include "main.h"

//struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;

//struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;

struct str_ToNaviCtrl   ToNaviCtrl;

struct str_FromNaviCtrl   FromNaviCtrl;

struct str_FromNaviCtrl_Value FromNaviCtrl_Value;

struct str_SPI_VersionInfo SPI_VersionInfo;

unsigned char              SPI_BufferIndex;

unsigned char              SPI_RxBufferIndex;

volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];

unsigned char *SPI_TX_Buffer;

unsigned char SPITransferCompleted, SPI_ChkSum;

unsigned char SPI_RxDataValid,NaviDataOkay = 0;

unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION, SPI_CMD_SERVOS };

unsigned char SPI_CommandCounter = 0;

#ifdef USE_SPI_COMMUNICATION

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

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);

  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);

  SPITransferCompleted = 1;

  //SPDR = 0x00;  // dummy write

  ToNaviCtrl.Sync1 = 0xAA;

  ToNaviCtrl.Sync2 = 0x83;

  ToNaviCtrl.Command = SPI_CMD_USER;

  ToNaviCtrl.IntegralNick = 0;

  ToNaviCtrl.IntegralRoll = 0;

  FromNaviCtrl_Value.SerialDataOkay = 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;

}

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

void SPI_StartTransmitPacket(void)

{

   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed

   if (!SPITransferCompleted) return;

//   _delay_us(30);

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

   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;

   ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];

   if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;

   SPITransferCompleted = 0;

   UpdateSPI_Buffer();                              // update buffer

   SPI_BufferIndex = 1;

  //ebugOut.Analog[16]++;

   // -- 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;

   SPDR = ToNaviCtrl.Sync1;                  // Start transmission

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

}

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

//SIGNAL(SIG_SPI)

void SPI_TransmitByte(void)

{

   static unsigned char SPI_RXState = 0;

   unsigned char rxdata;

   static unsigned char rxchksum;

   if (SPITransferCompleted) return;

   if (!(SPSR & (1 << SPIF))) return;

  SendSPI = 4;

//   _delay_us(30);

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

  rxdata = SPDR;

  switch ( SPI_RXState)

  {

  case 0:

                        SPI_RxBufferIndex = 0;

                        //DebugOut.Analog[17]++;

                        rxchksum = rxdata;

                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok

           break;

   case 1:

                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok

                 else SPI_RXState  = 0;

                        //DebugOut.Analog[18]++;

           break;

   case 2:

                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data

           //DebugOut.Analog[19]++;

           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))

                   {

                if (rxdata == rxchksum)

                        {

                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl;

                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));

                          SPI_RxDataValid = 1;

                        }

                        else SPI_RxDataValid = 0;

                        SPI_RXState  = 0;

                   }

                  else rxchksum += rxdata;

        break;

  }

   if (SPI_BufferIndex < sizeof(ToNaviCtrl))

     {

           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_TX_Buffer[SPI_BufferIndex];

           ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];

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

         }

         else SPITransferCompleted = 1;

         SPI_BufferIndex++;

}

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

void UpdateSPI_Buffer(void)

{

  signed int tmp;

  cli();

  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));

  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));

  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;

  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;

  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;

  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;

//  ToNaviCtrl.User8 = Parameter_UserParam8;

//  ToNaviCtrl.CalState = WinkelOut.CalcState;

   switch(ToNaviCtrl.Command)  //

   {

         case SPI_CMD_USER:

                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;

                                ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;

                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;

                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;

                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;

                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;

                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;

                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;

                                ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;

                MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START);

                    ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;

                    ToNaviCtrl.Param.Byte[10] =(unsigned char) BattLowVoltageWarning;

                    ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);

        break;

         case SPI_CMD_PARAMETER1:

                                ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard

                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;

                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;

                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;

                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;

                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;

                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;

                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;

                ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;

                ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;

                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;

                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;

            break;

         case SPI_CMD_STICK:

                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;

                                ToNaviCtrl.Param.Byte[0] = (char) tmp;

                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;

                                ToNaviCtrl.Param.Byte[1] = (char) tmp;

                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;

                                ToNaviCtrl.Param.Byte[2] = (char) tmp;

                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;

                                ToNaviCtrl.Param.Byte[3] = (char) tmp;

                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;

                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;

                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;

                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;

                    ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;

                    ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderRSSI;

                                ToNaviCtrl.Param.Byte[10] = DebugOut.Analog[7] / 4;

                        break;

                case SPI_CMD_MISC:

                        if(WinkelOut.CalcState > 5)

                        {

                                WinkelOut.CalcState = 0;

                                ToNaviCtrl.Param.Byte[0] = 5;

                        }

                        else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;

                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;

                        ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5);

                        ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);

                        ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;

                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;

                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.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] = PlatinenVersion;

                break;

            case SPI_CMD_SERVOS:

                ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh;     // Parameters for the Servo Control

                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;

                        ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;

                        ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;

                        ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;

                        ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;

                        ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;

                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;

                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;

                        ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;

                break;

        }

  sei();

  if(SPI_RxDataValid)

  {

   if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))

   {

    GPS_Nick = FromNaviCtrl.GPS_Nick;

    GPS_Roll = FromNaviCtrl.GPS_Roll;

        NaviDataOkay = 250;

   }

    if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;

    KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;

    if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;

          switch (FromNaviCtrl.Command)

          {

            case SPI_KALMAN:

                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];

                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];

                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];

                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];

                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];

                        break;

                default:

                  break;

          }

  }

  else

  {

//    KompassValue = 0;

//    KompassRichtung = 0;

        GPS_Nick = 0;

    GPS_Roll = 0;

  }

}

#endif