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Rev | Author | Line No. | Line |
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304 | ingob | 1 | // ######################## SPI - FlightCtrl ################### |
2 | #include "main.h" |
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3 | |||
4 | |||
823 | ingob | 5 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
6 | //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
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7 | struct str_ToNaviCtrl ToNaviCtrl; |
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8 | struct str_FromNaviCtrl FromNaviCtrl; |
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978 | hbuss | 9 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
1051 | killagreg | 10 | struct str_SPI_VersionInfo SPI_VersionInfo; |
708 | ingob | 11 | |
304 | ingob | 12 | unsigned char SPI_BufferIndex; |
708 | ingob | 13 | unsigned char SPI_RxBufferIndex; |
606 | ingob | 14 | |
882 | hbuss | 15 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
823 | ingob | 16 | unsigned char *SPI_TX_Buffer; |
708 | ingob | 17 | |
617 | ingob | 18 | unsigned char SPITransferCompleted, SPI_ChkSum; |
720 | ingob | 19 | unsigned char SPI_RxDataValid; |
20 | |||
1036 | hbuss | 21 | unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
823 | ingob | 22 | unsigned char SPI_CommandCounter = 0; |
23 | |||
597 | ingob | 24 | #ifdef USE_SPI_COMMUNICATION |
691 | ingob | 25 | |
304 | ingob | 26 | //------------------------------------------------------ |
27 | void SPI_MasterInit(void) |
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28 | { |
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1051 | killagreg | 29 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
304 | ingob | 30 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
1051 | killagreg | 31 | |
32 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
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723 | hbuss | 33 | SPSR = 0;//(1<<SPI2X); |
1051 | killagreg | 34 | |
35 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
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606 | ingob | 36 | SPITransferCompleted = 1; |
1051 | killagreg | 37 | |
708 | ingob | 38 | //SPDR = 0x00; // dummy write |
1051 | killagreg | 39 | |
823 | ingob | 40 | ToNaviCtrl.Sync1 = 0xAA; |
41 | ToNaviCtrl.Sync2 = 0x83; |
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1051 | killagreg | 42 | |
823 | ingob | 43 | ToNaviCtrl.Command = SPI_CMD_USER; |
44 | ToNaviCtrl.IntegralNick = 0; |
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45 | ToNaviCtrl.IntegralRoll = 0; |
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1051 | killagreg | 46 | SPI_RxDataValid = 0; |
47 | |||
48 | SPI_VersionInfo.Major = VERSION_MAJOR; |
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49 | SPI_VersionInfo.Minor = VERSION_MINOR; |
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50 | SPI_VersionInfo.Patch = VERSION_PATCH; |
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51 | SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
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304 | ingob | 52 | } |
53 | |||
54 | //------------------------------------------------------ |
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823 | ingob | 55 | void SPI_StartTransmitPacket(void) |
304 | ingob | 56 | { |
606 | ingob | 57 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
58 | if (!SPITransferCompleted) return; |
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1051 | killagreg | 59 | // _delay_us(30); |
60 | |||
304 | ingob | 61 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
823 | ingob | 62 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
1051 | killagreg | 63 | |
823 | ingob | 64 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
65 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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1051 | killagreg | 66 | |
606 | ingob | 67 | SPITransferCompleted = 0; |
304 | ingob | 68 | UpdateSPI_Buffer(); // update buffer |
823 | ingob | 69 | |
304 | ingob | 70 | SPI_BufferIndex = 1; |
1051 | killagreg | 71 | //ebugOut.Analog[16]++; |
304 | ingob | 72 | // -- Debug-Output --- |
73 | //---- |
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691 | ingob | 74 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
75 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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76 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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823 | ingob | 77 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
1051 | killagreg | 78 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
691 | ingob | 79 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
80 | |||
304 | ingob | 81 | } |
82 | |||
83 | //------------------------------------------------------ |
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84 | //SIGNAL(SIG_SPI) |
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85 | void SPI_TransmitByte(void) |
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86 | { |
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708 | ingob | 87 | static unsigned char SPI_RXState = 0; |
1051 | killagreg | 88 | unsigned char rxdata; |
708 | ingob | 89 | static unsigned char rxchksum; |
1051 | killagreg | 90 | |
691 | ingob | 91 | if (SPITransferCompleted) return; |
304 | ingob | 92 | if (!(SPSR & (1 << SPIF))) return; |
1051 | killagreg | 93 | SendSPI = 4; |
94 | |||
95 | // _delay_us(30); |
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606 | ingob | 96 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
1051 | killagreg | 97 | |
708 | ingob | 98 | rxdata = SPDR; |
99 | switch ( SPI_RXState) |
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100 | { |
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1051 | killagreg | 101 | case 0: |
102 | |||
103 | SPI_RxBufferIndex = 0; |
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708 | ingob | 104 | //DebugOut.Analog[17]++; |
1051 | killagreg | 105 | rxchksum = rxdata; |
106 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
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107 | |||
708 | ingob | 108 | break; |
109 | |||
1051 | killagreg | 110 | case 1: |
111 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
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112 | else SPI_RXState = 0; |
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708 | ingob | 113 | //DebugOut.Analog[18]++; |
1051 | killagreg | 114 | break; |
115 | |||
708 | ingob | 116 | case 2: |
117 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
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118 | //DebugOut.Analog[19]++; |
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1051 | killagreg | 119 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
120 | { |
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121 | |||
708 | ingob | 122 | if (rxdata == rxchksum) |
123 | { |
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823 | ingob | 124 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
1051 | killagreg | 125 | |
708 | ingob | 126 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
1051 | killagreg | 127 | |
128 | SPI_RxDataValid = 1; |
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129 | } |
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130 | else SPI_RxDataValid = 0; |
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131 | |||
132 | SPI_RXState = 0; |
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708 | ingob | 133 | } |
1051 | killagreg | 134 | else rxchksum += rxdata; |
135 | break; |
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136 | |||
137 | } |
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138 | |||
139 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
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140 | { |
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606 | ingob | 141 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
691 | ingob | 142 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
143 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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144 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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1051 | killagreg | 145 | |
708 | ingob | 146 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
823 | ingob | 147 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
691 | ingob | 148 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
149 | |||
606 | ingob | 150 | } |
1051 | killagreg | 151 | else SPITransferCompleted = 1; |
152 | |||
304 | ingob | 153 | SPI_BufferIndex++; |
154 | } |
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155 | |||
691 | ingob | 156 | |
304 | ingob | 157 | //------------------------------------------------------ |
158 | void UpdateSPI_Buffer(void) |
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159 | { |
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691 | ingob | 160 | static unsigned char i =0; |
846 | hbuss | 161 | signed int tmp; |
304 | ingob | 162 | cli(); |
1051 | killagreg | 163 | |
846 | hbuss | 164 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108); |
165 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108); |
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1051 | killagreg | 166 | ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
823 | ingob | 167 | ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
846 | hbuss | 168 | ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
819 | hbuss | 169 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
823 | ingob | 170 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
171 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
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172 | |||
1051 | killagreg | 173 | switch(ToNaviCtrl.Command) // |
823 | ingob | 174 | { |
1051 | killagreg | 175 | case SPI_CMD_USER: |
823 | ingob | 176 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
177 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
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178 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
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179 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
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180 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
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181 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
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182 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
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921 | hbuss | 183 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
184 | ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags; |
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185 | MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START); |
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186 | ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat; |
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187 | ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung; |
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188 | ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
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189 | break; |
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1051 | killagreg | 190 | case SPI_CMD_PARAMETER1: |
993 | hbuss | 191 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
1051 | killagreg | 192 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
193 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
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194 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
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195 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
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196 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
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197 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
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198 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
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993 | hbuss | 199 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
200 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
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201 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
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1064 | hbuss | 202 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
823 | ingob | 203 | break; |
1051 | killagreg | 204 | case SPI_CMD_STICK: |
871 | hbuss | 205 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 206 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
871 | hbuss | 207 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 208 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
871 | hbuss | 209 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 210 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
871 | hbuss | 211 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 212 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
213 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1; |
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214 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2; |
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215 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3; |
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216 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4; |
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855 | hbuss | 217 | ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay; |
823 | ingob | 218 | break; |
1036 | hbuss | 219 | case SPI_CMD_MISC: |
1051 | killagreg | 220 | if(WinkelOut.CalcState > 5) |
855 | hbuss | 221 | { |
1051 | killagreg | 222 | WinkelOut.CalcState = 0; |
223 | ToNaviCtrl.Param.Byte[0] = 5; |
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224 | } |
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855 | hbuss | 225 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
1036 | hbuss | 226 | ToNaviCtrl.Param.Int[1] = HoehenWert; |
823 | ingob | 227 | break; |
991 | ingob | 228 | |
229 | case SPI_CMD_VERSION: |
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1051 | killagreg | 230 | ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
231 | ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
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232 | ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
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233 | ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
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991 | ingob | 234 | break; |
823 | ingob | 235 | } |
1051 | killagreg | 236 | |
304 | ingob | 237 | sei(); |
1051 | killagreg | 238 | |
720 | ingob | 239 | if (SPI_RxDataValid) |
1051 | killagreg | 240 | { |
855 | hbuss | 241 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
854 | hbuss | 242 | { |
823 | ingob | 243 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
244 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
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854 | hbuss | 245 | } |
246 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
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720 | ingob | 247 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
1051 | killagreg | 248 | |
855 | hbuss | 249 | if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
1051 | killagreg | 250 | |
823 | ingob | 251 | switch (FromNaviCtrl.Command) |
252 | { |
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992 | hbuss | 253 | case SPI_KALMAN: |
254 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0]; |
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255 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1]; |
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256 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2]; |
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257 | break; |
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1051 | killagreg | 258 | |
823 | ingob | 259 | case SPI_CMD_OSD_DATA: |
978 | hbuss | 260 | FromNaviCtrl_Value.OsdBar = FromNaviCtrl.Param.Byte[0]; |
261 | FromNaviCtrl_Value.Distance = FromNaviCtrl.Param.Int[1]; |
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992 | hbuss | 262 | break; |
823 | ingob | 263 | |
264 | case SPI_CMD_GPS_POS: |
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265 | // ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
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266 | // ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
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267 | break; |
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268 | |||
269 | case SPI_CMD_GPS_TARGET: |
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270 | // ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
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271 | // ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
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272 | break; |
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273 | |||
274 | default: |
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275 | break; |
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276 | } |
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720 | ingob | 277 | } |
278 | else |
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279 | { |
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819 | hbuss | 280 | // KompassValue = 0; |
281 | // KompassRichtung = 0; |
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1051 | killagreg | 282 | |
1086 | salvo | 283 | // Salvo 28.12.2008 |
284 | // GPS_Nick = 0; |
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285 | // GPS_Roll = 0; |
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286 | //Salvo End |
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287 | |||
720 | ingob | 288 | } |
304 | ingob | 289 | } |
290 | |||
597 | ingob | 291 | #endif |
304 | ingob | 292 | |
293 |