Subversion Repositories FlightCtrl

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1112 thjac 1
// ######################## SPI - FlightCtrl ###################
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#include "main.h"
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//struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
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//struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
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struct str_ToNaviCtrl   ToNaviCtrl;
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struct str_FromNaviCtrl   FromNaviCtrl;
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struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
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struct str_SPI_VersionInfo SPI_VersionInfo;
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12
unsigned char              SPI_BufferIndex;
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unsigned char              SPI_RxBufferIndex;
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15
volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
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unsigned char *SPI_TX_Buffer;
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unsigned char SPITransferCompleted, SPI_ChkSum;
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unsigned char SPI_RxDataValid;
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21
unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION };
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unsigned char SPI_CommandCounter = 0;
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24
#ifdef USE_SPI_COMMUNICATION
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26
//------------------------------------------------------
27
void SPI_MasterInit(void)
28
{
29
  DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK);    // Set MOSI and SCK output, all others input
30
  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
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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  SPSR = 0;//(1<<SPI2X);
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35
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
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  SPITransferCompleted = 1;
37
 
38
  //SPDR = 0x00;  // dummy write
39
 
40
  ToNaviCtrl.Sync1 = 0xAA;
41
  ToNaviCtrl.Sync2 = 0x83;
42
 
43
  ToNaviCtrl.Command = SPI_CMD_USER;
44
  ToNaviCtrl.IntegralNick = 0;
45
  ToNaviCtrl.IntegralRoll = 0;
46
  SPI_RxDataValid = 0;
47
 
48
  SPI_VersionInfo.Major = VERSION_MAJOR;
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  SPI_VersionInfo.Minor = VERSION_MINOR;
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  SPI_VersionInfo.Patch = VERSION_PATCH;
51
  SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE;
52
}
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54
//------------------------------------------------------
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void SPI_StartTransmitPacket(void)
56
{
57
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
58
   if (!SPITransferCompleted) return;
59
//   _delay_us(30);
60
 
61
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
62
   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
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64
   ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
65
   if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
66
 
67
   SPITransferCompleted = 0;
68
   UpdateSPI_Buffer();                              // update buffer
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70
   SPI_BufferIndex = 1;
71
  //ebugOut.Analog[16]++;
72
   // -- Debug-Output ---
73
   //----
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");
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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   ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
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   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
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//     SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
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81
}
82
 
83
//------------------------------------------------------
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//SIGNAL(SIG_SPI)
85
void SPI_TransmitByte(void)
86
{
87
   static unsigned char SPI_RXState = 0;
88
   unsigned char rxdata;
89
   static unsigned char rxchksum;
90
 
91
   if (SPITransferCompleted) return;
92
   if (!(SPSR & (1 << SPIF))) return;
93
  SendSPI = 4;
94
 
95
//   _delay_us(30);
96
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
97
 
98
  rxdata = SPDR;
99
  switch ( SPI_RXState)
100
  {
101
  case 0:
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103
                        SPI_RxBufferIndex = 0;
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                        //DebugOut.Analog[17]++;
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                        rxchksum = rxdata;
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                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok
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108
           break;
109
 
110
   case 1:
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                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok
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                 else SPI_RXState  = 0;
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                        //DebugOut.Analog[18]++;
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           break;
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116
   case 2:
117
                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
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           //DebugOut.Analog[19]++;
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           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
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                   {
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                if (rxdata == rxchksum)
123
                        {
124
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
125
 
126
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
127
 
128
                          SPI_RxDataValid = 1;
129
                        }
130
                        else SPI_RxDataValid = 0;
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132
                        SPI_RXState  = 0;
133
                   }
134
                  else rxchksum += rxdata;
135
        break;
136
 
137
  }
138
 
139
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))
140
     {
141
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
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           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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           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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           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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146
           SPDR = SPI_TX_Buffer[SPI_BufferIndex];
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           ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
148
        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
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150
         }
151
         else SPITransferCompleted = 1;
152
 
153
         SPI_BufferIndex++;
154
}
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156
 
157
//------------------------------------------------------
158
void UpdateSPI_Buffer(void)
159
{
160
  static unsigned char i =0;
161
  signed int tmp;
162
  cli();
163
 
164
  ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108);
165
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108);
166
  ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
167
  ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc);
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  ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc);
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  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
170
//  ToNaviCtrl.User8 = Parameter_UserParam8;
171
//  ToNaviCtrl.CalState = WinkelOut.CalcState;
172
 
173
   switch(ToNaviCtrl.Command)  //
174
   {
175
         case SPI_CMD_USER:
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                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
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                                ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
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                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
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                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
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                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
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                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
182
                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
183
                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
184
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;
185
                MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START);
186
                    ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;
187
                    ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung;
188
                    ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
189
        break;
190
         case SPI_CMD_PARAMETER1:
191
                                ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard
192
                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
193
                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
194
                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
195
                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
196
                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
197
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
198
                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
199
                ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
200
                ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
201
                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
202
                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
203
            break;
204
         case SPI_CMD_STICK:
205
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
206
                                ToNaviCtrl.Param.Byte[0] = (char) tmp;
207
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
208
                                ToNaviCtrl.Param.Byte[1] = (char) tmp;
209
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
210
                                ToNaviCtrl.Param.Byte[2] = (char) tmp;
211
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
212
                                ToNaviCtrl.Param.Byte[3] = (char) tmp;
213
                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;
214
                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;
215
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
216
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
217
                    ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
218
            break;
219
         case SPI_CMD_MISC:
220
                if(WinkelOut.CalcState > 5)
221
                  {
222
                    WinkelOut.CalcState = 0;
223
                    ToNaviCtrl.Param.Byte[0] = 5;
224
                  }
225
                                else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
226
                                ToNaviCtrl.Param.Int[1] = HoehenWert;
227
            break;
228
 
229
         case SPI_CMD_VERSION:
230
                                ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;
231
                                ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;
232
                                ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;
233
                                ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;
234
            break;
235
   }
236
 
237
  sei();
238
 
239
  if (SPI_RxDataValid)
240
  {
241
   if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
242
   {
243
    GPS_Nick = FromNaviCtrl.GPS_Nick;
244
    GPS_Roll = FromNaviCtrl.GPS_Roll;
245
   }
246
    if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
247
    KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
248
 
249
    if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
250
 
251
          switch (FromNaviCtrl.Command)
252
          {
253
            case  SPI_KALMAN:
254
               FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0];
255
               FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1];
256
               FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2];
257
               break;
258
 
259
            case  SPI_CMD_OSD_DATA:
260
               FromNaviCtrl_Value.OsdBar = FromNaviCtrl.Param.Byte[0];
261
               FromNaviCtrl_Value.Distance = FromNaviCtrl.Param.Int[1];
262
               break;
263
 
264
            case  SPI_CMD_GPS_POS:
265
//                                ToFlightCtrl.Param.Long[0]  = GPS_Data.Longitude;
266
//                                ToFlightCtrl.Param.Long[1]  = GPS_Data.Latitude;
267
                  break;
268
 
269
            case  SPI_CMD_GPS_TARGET:
270
//                                ToFlightCtrl.Param.Long[0]  = GPS_Data.TargetLongitude;
271
//                                ToFlightCtrl.Param.Long[1]  = GPS_Data.TargetLatitude;
272
                  break;
273
 
274
                default:
275
                  break;
276
          }
277
  }
278
  else
279
  {
280
//    KompassValue = 0;
281
//    KompassRichtung = 0;
282
 
283
        GPS_Nick = 0;
284
    GPS_Roll = 0;
285
  }
286
}
287
 
288
#endif
289
 
290