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