WebSVN - FlightCtrl - Blame - Rev 2052 - /branches/dongfang_FC

Rev	Author	Line No.	Line
1612	dongfang	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		2	// + Copyright (c) 04.2007 Holger Buss
2035	-	3	// + Nur f�r den privaten Gebrauch
1612	dongfang	4	// + www.MikroKopter.com
		5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2035	-	6	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
		7	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
1612	dongfang	8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
		9	// + bzgl. der Nutzungsbedingungen aufzunehmen.
2035	-	10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
1612	dongfang	11	// + Verkauf von Luftbildaufnahmen, usw.
		12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2035	-	13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
		14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
1612	dongfang	15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
2035	-	17	// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
1612	dongfang	18	// + eindeutig als Ursprung verlinkt werden
		19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2035	-	20	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
1612	dongfang	21	// + Benutzung auf eigene Gefahr
2035	-	22	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
1612	dongfang	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
2035	-	25	// + mit unserer Zustimmung zul�ssig
1612	dongfang	26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
		28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
		30	// + this list of conditions and the following disclaimer.
		31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
		32	// + from this software without specific prior written permission.
		33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
		34	// + for non-commercial use (directly or indirectly)
1868	-	35	// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1612	dongfang	36	// + with our written permission
		37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
		38	// + clearly linked as origin
		39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
		40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
		41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
		42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
		43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
		44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
		45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
		46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
		47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
		48	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
		49	// + POSSIBILITY OF SUCH DAMAGE.
		50	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		51	#include <avr/io.h>
		52	#include <avr/interrupt.h>
		53	#include <string.h>
		54	#include <stdlib.h>
		55	#include "spi.h"
		56	#include "rc.h"
		57	#include "eeprom.h"
		58	#include "timer0.h"
		59	#include "analog.h"
		60	#include "attitude.h"
		61	#include "flight.h"
		62
		63	//-----------------------------------------
		64
		65	// for compatibility reasons gcc3.x <-> gcc4.x
2035	-	66	// dongfang: Lets try to abandon GCC3.
		67	/*
1612	dongfang	68	#ifndef SPCR
		69	#define SPCR SPCR0
		70	#endif
		71	#ifndef SPIE
		72	#define SPIE SPIE0
		73	#endif
		74	#ifndef SPE
		75	#define SPE SPE0
		76	#endif
		77	#ifndef DORD
		78	#define DORD DORD0
		79	#endif
		80	#ifndef MSTR
		81	#define MSTR MSTR0
		82	#endif
		83	#ifndef CPOL
		84	#define CPOL CPOL0
		85	#endif
		86	#ifndef CPHA
		87	#define CPHA CPHA0
		88	#endif
		89	#ifndef SPR1
		90	#define SPR1 SPR01
		91	#endif
		92	#ifndef SPR0
		93	#define SPR0 SPR00
		94	#endif
		95
		96	#ifndef SPDR
		97	#define SPDR SPDR0
		98	#endif
		99
		100	#ifndef SPSR
		101	#define SPSR SPSR0
		102	#endif
		103	#ifndef SPIF
		104	#define SPIF SPIF0
		105	#endif
		106	#ifndef WCOL
		107	#define WCOL WCOL0
		108	#endif
1775	-	109	#ifndef SPI2X
1612	dongfang	110	#define SPI2X SPI2X0
1775	-	111	#endif
2035	-	112	*/
1612	dongfang	113	// -------------------------
2035	-	114	#define DDR_SPI DDRB
		115	#define DD_SS PB4
		116	#define DD_SCK PB7
		117	#define DD_MOSI PB5
		118	#define DD_MISO PB6
1612	dongfang	119
		120	#define SLAVE_SELECT_DDR_PORT DDRC
		121	#define SLAVE_SELECT_PORT PORTC
		122	#define SPI_SLAVE_SELECT PC5
		123
		124	#define SPI_TXSYNCBYTE1 0xAA
		125	#define SPI_TXSYNCBYTE2 0x83
		126	#define SPI_RXSYNCBYTE1 0x81
		127	#define SPI_RXSYNCBYTE2 0x55
		128
1775	-	129	typedef enum {
1821	-	130	SPI_SYNC1, SPI_SYNC2, SPI_DATA
1775	-	131	} SPI_RXState_t;
1612	dongfang	132
		133	// data exchange packets to and From NaviCtrl
1821	-	134	ToNaviCtrl_t toNaviCtrl;
		135	FromNaviCtrl_t fromNaviCtrl;
		136	SPI_VersionInfo_t SPI_VersionInfo;
1612	dongfang	137
		138	// rx packet buffer
1775	-	139	#define SPI_RXBUFFER_LEN sizeof(fromNaviCtrl)
1612	dongfang	140	uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN];
1821	-	141	uint8_t SPI_RxBufferIndex = 0;
1612	dongfang	142	uint8_t SPI_RxBuffer_Request = 0;
		143
		144	// tx packet buffer
1775	-	145	#define SPI_TXBUFFER_LEN sizeof(toNaviCtrl)
1612	dongfang	146	uint8_t *SPI_TxBuffer;
1821	-	147	uint8_t SPI_TxBufferIndex = 0;
1612	dongfang	148
		149	uint8_t SPITransferCompleted, SPI_ChkSum;
		150	uint8_t SPI_RxDataValid = 0;
		151	uint8_t NCDataOkay = 0;
		152	uint8_t NCSerialDataOkay = 0;
		153
1821	-	154	uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK,
		155	SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION };
1612	dongfang	156	uint8_t SPI_CommandCounter = 0;
		157
		158	/*********************************************/
		159	/* Initialize SPI interface to NaviCtrl */
		160	/*********************************************/
		161	void SPI_MasterInit(void) {
1821	-	162	DDR_SPI \|= (1 << DD_MOSI) \| (1 << DD_SCK); // Set MOSI and SCK output, all others input
		163	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port
		164
		165	SPCR = (1 << SPE) \| (1 << MSTR) \| (1 << SPR1) \| (0 << SPR0) \| (0 << SPIE); // Enable SPI, Master, set clock rate fck/64
		166	SPSR = 0;//(1<<SPI2X);
		167
		168	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // Deselect Slave
		169
		170	SPI_TxBuffer = (uint8_t *) &toNaviCtrl; // set pointer to tx-buffer
		171	SPITransferCompleted = 1;
		172	// initialize data packet to NaviControl
2035	-	173	toNaviCtrl.sync1 = SPI_TXSYNCBYTE1;
		174	toNaviCtrl.sync2 = SPI_TXSYNCBYTE2;
1821	-	175
2035	-	176	toNaviCtrl.command = SPI_CMD_USER;
		177	toNaviCtrl.integralPitch = 0;
		178	toNaviCtrl.integralRoll = 0;
		179	naviCtrlData.serialDataOkay = 0;
		180	//NCSerialDataOkay = 0;
		181	//NCDataOkay = 0;
1821	-	182
		183	SPI_RxDataValid = 0;
		184
2035	-	185	//SPI_VersionInfo.Major = VERSION_MAJOR;
		186	//SPI_VersionInfo.Minor = VERSION_MINOR;
		187	//SPI_VersionInfo.Patch = VERSION_PATCH;
		188	//SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE;
1612	dongfang	189	}
		190
		191	/**********************************************************/
2035	-	192	/* Update Data transfered by the SPI from/to NaviCtrl */
1612	dongfang	193	/**********************************************************/
2035	-	194	void updateSPI_Buffer(void) {
1821	-	195	uint8_t i;
		196	int16_t tmp;
		197	cli();
		198	// stop all interrupts to avoid writing of new data during update of that packet.
1775	-	199
1821	-	200	// update content of packet to NaviCtrl
2035	-	201	// Scaling?
		202	toNaviCtrl.integralPitch = (angle[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1�
		203	// Scaling?
		204	toNaviCtrl.integralRoll = (angle[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1�
		205	// Scaling?
		206	toNaviCtrl.gyroHeading = (yawGyroHeading / (GYRO_DEG_FACTOR_YAW / 10)); // convert to multiple of 0.1�
		207	// Scaling?
		208	toNaviCtrl.gyroPitch = rate_ATT[PITCH];
		209	// Scaling?
		210	toNaviCtrl.gyroRoll = rate_ATT[ROLL];
		211	// Scaling?
		212	toNaviCtrl.gyroYaw = yawRate;
		213	// Scaling?
		214	toNaviCtrl.accPitch = getAngleEstimateFromAcc(PITCH) / (GYRO_DEG_FACTOR_PITCHROLL/10); // convert to multiple of 0.1�
		215	// Scaling?
		216	toNaviCtrl.AccRoll = getAngleEstimateFromAcc(ROLL) / (GYRO_DEG_FACTOR_PITCHROLL/10);
1612	dongfang	217
1821	-	218	// TODO: What are these little bastards?
		219
		220	averageAcc[PITCH] = averageAcc[ROLL] = averageAccCount = 0;
		221
2035	-	222	switch (toNaviCtrl.command) {
1821	-	223	case SPI_CMD_USER:
2035	-	224	for (i = 0; i < sizeof(dynamicParams.userParams); i++) {
		225	toNaviCtrl.param.asByte[i] = dynamicParams.userParams[i];
1821	-	226	}
		227	toNaviCtrl.Param.Byte[8] = MKFlags;
		228	MKFlags &= ~(MKFLAG_CALIBRATE \| MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting
2035	-	229	toNaviCtrl.Param.Byte[9] = getActiveParamSet();
		230	toNaviCtrl.Param.Byte[10] = 10; //EE_Parameter.ComingHomeAltitude;
		231	toNaviCtrl.Param.Byte[11] = 0; //FC_StatusFlags2;
1821	-	232	break;
		233
		234	case SPI_CMD_PARAMETER1:
		235	toNaviCtrl.Param.Byte[0] = staticParams.NaviGpsModeControl; // Parameters for the Naviboard
		236	toNaviCtrl.Param.Byte[1] = staticParams.NaviGpsGain;
		237	toNaviCtrl.Param.Byte[2] = staticParams.NaviGpsP;
		238	toNaviCtrl.Param.Byte[3] = staticParams.NaviGpsI;
		239	toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsD;
		240	toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsACC;
		241	toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsMinSat;
		242	toNaviCtrl.Param.Byte[7] = staticParams.NaviStickThreshold;
		243	toNaviCtrl.Param.Byte[8] = staticParams.NaviOperatingRadius;
		244	toNaviCtrl.Param.Byte[9] = staticParams.NaviWindCorrection;
		245	toNaviCtrl.Param.Byte[10] = staticParams.NaviSpeedCompensation;
		246	toNaviCtrl.Param.Byte[11] = staticParams.NaviAngleLimitation;
		247	break;
		248
		249	case SPI_CMD_STICK:
		250	tmp = PPM_in[staticParams.ChannelAssignment[CH_THROTTLE]];
		251	if (tmp > 127)
		252	tmp = 127;
		253	else if (tmp < -128)
		254	tmp = -128;
		255	toNaviCtrl.Param.Byte[0] = (int8_t) tmp;
		256	tmp = PPM_in[staticParams.ChannelAssignment[CH_YAW]];
		257	if (tmp > 127)
		258	tmp = 127;
		259	else if (tmp < -128)
		260	tmp = -128;
		261	toNaviCtrl.Param.Byte[1] = (int8_t) tmp;
		262	tmp = PPM_in[staticParams.ChannelAssignment[CH_ROLL]];
		263	if (tmp > 127)
		264	tmp = 127;
		265	else if (tmp < -128)
		266	tmp = -128;
		267	toNaviCtrl.Param.Byte[2] = (int8_t) tmp;
		268	tmp = PPM_in[staticParams.ChannelAssignment[CH_PITCH]];
		269	if (tmp > 127)
		270	tmp = 127;
		271	else if (tmp < -128)
		272	tmp = -128;
		273	toNaviCtrl.Param.Byte[3] = (int8_t) tmp;
		274	toNaviCtrl.Param.Byte[4] = (uint8_t) variables[0];
		275	toNaviCtrl.Param.Byte[5] = (uint8_t) variables[1];
		276	toNaviCtrl.Param.Byte[6] = (uint8_t) variables[2];
		277	toNaviCtrl.Param.Byte[7] = (uint8_t) variables[3];
		278	toNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality;
		279	break;
		280
		281	case SPI_CMD_MISC:
		282	toNaviCtrl.Param.Byte[0] = compassCalState;
		283	if (compassCalState > 4) { // jump from 5 to 0
		284	compassCalState = 0;
		285	}
		286	toNaviCtrl.Param.Byte[1] = staticParams.NaviPHLoginTime;
		287	// TODO: Height and in the correct scaling...
		288	toNaviCtrl.Param.Int[1] = 0; //readingHeight; // at address of Byte 2 and 3
		289	toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsPLimit;
		290	toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsILimit;
		291	toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsDLimit;
		292	break;
		293
		294	case SPI_CMD_VERSION:
		295	toNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;
		296	toNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;
		297	toNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;
		298	toNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;
		299	toNaviCtrl.Param.Byte[4] = BoardRelease;
		300	break;
		301	default:
		302	break;
		303	}
		304
		305	sei();
		306	// enable all interrupts
		307
		308	// analyze content of packet from NaviCtrl if valid
		309	if (SPI_RxDataValid) {
		310	// update gps controls
		311	if (abs(fromNaviCtrl.GPSStickPitch) < 512 && abs(fromNaviCtrl.GPSStickRoll)
		312	< 512 && (staticParams.GlobalConfig & CFG_GPS_ACTIVE)) {
		313	GPSStickPitch = fromNaviCtrl.GPSStickPitch;
		314	GPSStickRoll = fromNaviCtrl.GPSStickRoll;
		315	NCDataOkay = 250;
		316	}
		317	// update compass readings
		318	if (fromNaviCtrl.CompassHeading <= 360) {
		319	compassHeading = fromNaviCtrl.CompassHeading;
		320	}
		321	//if(compassHeading < 0) compassOffCourse = 0;
		322	//else compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;
		323	// NaviCtrl wants to beep?
		324	if (fromNaviCtrl.BeepTime > BeepTime && !compassCalState)
		325	BeepTime = fromNaviCtrl.BeepTime;
		326
		327	switch (fromNaviCtrl.Command) {
		328	case SPI_KALMAN:
		329	dynamicParams.KalmanK = fromNaviCtrl.Param.Byte[0];
		330	dynamicParams.KalmanMaxFusion = fromNaviCtrl.Param.Byte[1];
		331	dynamicParams.KalmanMaxDrift = fromNaviCtrl.Param.Byte[2];
		332	NCSerialDataOkay = fromNaviCtrl.Param.Byte[3];
		333	break;
		334
		335	default:
		336	break;
		337	}
		338	} else { // no valid data from NaviCtrl
		339	// disable GPS control
		340	GPSStickPitch = 0;
		341	GPSStickRoll = 0;
		342	}
1612	dongfang	343	}
		344
		345	/*********************************************/
		346	/* Start Transmission of packet to NaviCtrl */
		347	/*********************************************/
1821	-	348	void SPI_StartTransmitPacket(void) {
		349	if (!SPITransferCompleted)
		350	return; // return immediately if transfer is in progress
		351	else // transmission was completed
		352	{
		353	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave
		354
		355	// cyclic commands
		356	toNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
		357	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence))
		358	SPI_CommandCounter = 0;
		359
		360	SPITransferCompleted = 0; // transfer is in progress
		361	UpdateSPI_Buffer(); // update data in toNaviCtrl
		362
		363	SPI_TxBufferIndex = 1; //proceed with 2nd byte
		364
		365	// -- Debug-Output ---
		366	//----
		367	asm volatile ("nop");
		368	asm volatile ("nop");
		369	asm volatile ("nop");
		370	asm volatile ("nop");
		371	asm volatile ("nop");
		372	asm volatile ("nop");
		373	asm volatile ("nop");
		374	asm volatile ("nop");
		375	asm volatile ("nop");
		376	asm volatile ("nop");
		377	asm volatile ("nop");
		378	asm volatile ("nop");
		379	asm volatile ("nop");
		380	asm volatile ("nop");
		381	asm volatile ("nop");
		382	asm volatile ("nop");
		383	asm volatile ("nop");
		384	asm volatile ("nop");
		385	asm volatile ("nop");
		386	asm volatile ("nop");
		387	asm volatile ("nop");
		388	asm volatile ("nop");
		389	asm volatile ("nop");
		390	asm volatile ("nop");
		391	toNaviCtrl.Chksum = toNaviCtrl.Sync1; // init checksum
		392	SPDR = toNaviCtrl.Sync1; // send first byte
		393	}
1612	dongfang	394	}
		395
		396	//------------------------------------------------------
		397	// This is the spi data transfer between FlightCtrl and NaviCtrl
		398	// Every time this routine is called within the mainloop one byte of the packet to
		399	// the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered
		400
		401	void SPI_TransmitByte(void) {
1821	-	402	static SPI_RXState_t SPI_RXState = SPI_SYNC1;
		403	uint8_t rxdata;
		404	static uint8_t rxchksum;
		405
		406	if (SPITransferCompleted)
		407	return; // return immediatly if transfer was completed
		408	if (!(SPSR & (1 << SPIF)))
		409	return; // return if no SPI-IRQ pending
		410	SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop
		411
		412	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		413
		414	rxdata = SPDR; // save spi data register
		415
		416	switch (SPI_RXState) {
		417	case SPI_SYNC1: // first sync byte
		418	SPI_RxBufferIndex = 0; // set pointer to start of rx buffer
		419	rxchksum = rxdata; // initialize checksum
		420	if (rxdata == SPI_RXSYNCBYTE1) { // 1st Syncbyte found
		421	SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte
		422	}
		423	break;
		424
		425	case SPI_SYNC2: // second sync byte
		426	if (rxdata == SPI_RXSYNCBYTE2) { // 2nd Syncbyte found
		427	rxchksum += rxdata; // update checksum
		428	SPI_RXState = SPI_DATA; // trigger to state for second sync byte
		429	} else // 2nd Syncbyte not found
		430	{
		431	SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte
		432	}
		433	break;
		434
		435	case SPI_DATA: // data bytes
		436	SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer
		437	// if all bytes are received of a packet from the NaviCtrl
		438	if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) { // last byte transfered is the checksum of the packet
		439	if (rxdata == rxchksum) { // checksum matching?
		440	// copy SPI_RxBuffer -> FromFlightCtrl
		441	uint8_t ptr = (uint8_t ) &fromNaviCtrl;
		442	cli();
		443	memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(fromNaviCtrl));
		444	sei();
		445	SPI_RxDataValid = 1;
		446	} else { // checksum does not match
		447	SPI_RxDataValid = 0; // reset valid flag
		448	}
		449	SPI_RXState = SPI_SYNC1; // reset state sync
		450	} else { // not all bytes transfered
		451	rxchksum += rxdata; // update checksum
		452	}
		453	break;
		454	}// eof switch(SPI_RXState)
		455
		456	// if still some bytes left for transmission to NaviCtrl
		457	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) {
		458	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
		459	asm volatile ("nop");
		460	asm volatile ("nop");
		461	asm volatile ("nop");
		462	asm volatile ("nop");
		463	asm volatile ("nop");
		464	asm volatile ("nop");
		465	asm volatile ("nop");
		466	asm volatile ("nop");
		467	asm volatile ("nop");
		468	asm volatile ("nop");
		469	asm volatile ("nop");
		470	asm volatile ("nop");
		471	asm volatile ("nop");
		472	asm volatile ("nop");
		473	asm volatile ("nop");
		474	asm volatile ("nop");
		475	asm volatile ("nop");
		476	asm volatile ("nop");
		477	asm volatile ("nop");
		478	asm volatile ("nop");
		479	asm volatile ("nop");
		480	asm volatile ("nop");
		481	asm volatile ("nop");
		482	asm volatile ("nop");
		483
		484	SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte
		485	toNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent
		486	SPI_TxBufferIndex++;
		487	} else {
		488	//Transfer of all bytes of the packet to NaviCtrl completed
		489	SPITransferCompleted = 1;
		490	}
1612	dongfang	491	}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/spi.c - Rev 2052