| 1,251 → 1,313 |
|---|
| // ######################## SPI - FlightCtrl ################### |
| #include "main.h" |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <string.h> |
| #include <stdlib.h> |
| #include "_Settings.h" |
| #include "spi.h" |
| #include "fc.h" |
| #include "rc.h" |
| #include "eeprom.h" |
| #include "uart.h" |
| #include "timer0.h" |
| |
| #define SPI_TXSYNCBYTE1 0xAA |
| #define SPI_TXSYNCBYTE2 0x83 |
| #define SPI_RXSYNCBYTE1 0x81 |
| #define SPI_RXSYNCBYTE2 0x55 |
| |
| //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
| //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
| struct str_ToNaviCtrl ToNaviCtrl; |
| struct str_FromNaviCtrl FromNaviCtrl; |
| typedef enum |
| { |
| SPI_SYNC1, |
| SPI_SYNC2, |
| SPI_DATA |
| } SPI_RXState_t; |
| |
| unsigned char SPI_BufferIndex; |
| unsigned char SPI_RxBufferIndex; |
| |
| volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
| unsigned char *SPI_TX_Buffer; |
| // data exchange packets to and From NaviCtrl |
| ToNaviCtrl_t ToNaviCtrl; |
| FromNaviCtrl_t FromNaviCtrl; |
| |
| unsigned char SPITransferCompleted, SPI_ChkSum; |
| unsigned char SPI_RxDataValid; |
| // rx packet buffer |
| #define SPI_RXBUFFER_LEN sizeof(FromNaviCtrl) |
| uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
| uint8_t SPI_RxBufferIndex = 0; |
| uint8_t SPI_RxBuffer_Request = 0; |
| |
| unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS }; |
| unsigned char SPI_CommandCounter = 0; |
| // tx packet buffer |
| #define SPI_TXBUFFER_LEN sizeof(ToNaviCtrl) |
| uint8_t *SPI_TxBuffer; |
| uint8_t SPI_TxBufferIndex = 0; |
| |
| uint8_t SPITransferCompleted, SPI_ChkSum; |
| uint8_t SPI_RxDataValid; |
| |
| uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS }; |
| uint8_t SPI_CommandCounter = 0; |
| |
| #ifdef USE_SPI_COMMUNICATION |
| |
| //------------------------------------------------------ |
| /*********************************************/ |
| /* Initialize SPI interface to NaviCtrl */ |
| /*********************************************/ |
| 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; |
| SPI_RxDataValid = 0; |
| DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
| |
| 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); // Deselect Slave |
| |
| SPI_TxBuffer = (uint8_t *) &ToNaviCtrl; // set pointer to tx-buffer |
| SPITransferCompleted = 1; |
| // initialize data packet to NaviControl |
| ToNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
| ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
| |
| ToNaviCtrl.Command = SPI_CMD_USER; |
| ToNaviCtrl.IntegralPitch = 0; |
| ToNaviCtrl.IntegralRoll = 0; |
| SPI_RxDataValid = 0; |
| } |
| |
| //------------------------------------------------------ |
| void SPI_StartTransmitPacket(void) |
| |
| /**********************************************************/ |
| /* Update Data transferd by the SPI from/to NaviCtrl */ |
| /**********************************************************/ |
| void UpdateSPI_Buffer(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 |
| int16_t tmp; |
| cli(); // stop all interrupts to avoid writing of new data during update of that packet. |
| |
| 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 |
| // update content of packet to NaviCtrl |
| ToNaviCtrl.IntegralPitch = (int16_t) (IntegralPitch / 108); |
| ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 108); |
| ToNaviCtrl.GyroHeading = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
| ToNaviCtrl.GyroPitch = Reading_GyroPitch; |
| ToNaviCtrl.GyroRoll = Reading_GyroRoll; |
| ToNaviCtrl.GyroYaw = Reading_GyroYaw; |
| ToNaviCtrl.AccPitch = (int16_t) ACC_AMPLIFY * (NaviAccPitch / NaviCntAcc); |
| ToNaviCtrl.AccRoll = (int16_t) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
| NaviCntAcc = 0; NaviAccPitch = 0; NaviAccRoll = 0; |
| |
| switch(ToNaviCtrl.Command) |
| { |
| case SPI_CMD_USER: |
| ToNaviCtrl.Param.Byte[0] = FCParam.UserParam1; |
| ToNaviCtrl.Param.Byte[1] = FCParam.UserParam2; |
| ToNaviCtrl.Param.Byte[2] = FCParam.UserParam3; |
| ToNaviCtrl.Param.Byte[3] = FCParam.UserParam4; |
| ToNaviCtrl.Param.Byte[4] = FCParam.UserParam5; |
| ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6; |
| ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7; |
| ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8; |
| break; |
| |
| case SPI_CMD_STICK: |
| tmp = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| ToNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
| tmp = PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| ToNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
| tmp = PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| ToNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
| tmp = PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| ToNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
| ToNaviCtrl.Param.Byte[4] = (uint8_t) Poti1; |
| ToNaviCtrl.Param.Byte[5] = (uint8_t) Poti2; |
| ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3; |
| ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4; |
| ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
| break; |
| |
| case SPI_CMD_CAL_COMPASS: |
| if(CompassCalState > 5) |
| { |
| CompassCalState = 0; |
| ToNaviCtrl.Param.Byte[0] = 5; |
| } |
| else |
| { |
| ToNaviCtrl.Param.Byte[0] = CompassCalState; |
| } |
| break; |
| } |
| |
| |
| sei(); // enable all interrupts |
| |
| // analyze content of packet from NaviCtrl if valid |
| if (SPI_RxDataValid) |
| { |
| // update gps controls |
| if(abs(FromNaviCtrl.GPS_Pitch) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
| { |
| GPS_Pitch = FromNaviCtrl.GPS_Pitch; |
| GPS_Roll = FromNaviCtrl.GPS_Roll; |
| } |
| // update compass readings |
| if(FromNaviCtrl.CompassHeading <= 360) |
| { |
| CompassHeading = FromNaviCtrl.CompassHeading; |
| } |
| if(CompassHeading < 0) CompassOffCourse = 0; |
| else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
| // NaviCtrl wants to beep? |
| if (FromNaviCtrl.BeepTime > BeepTime && !CompassCalState) BeepTime = FromNaviCtrl.BeepTime; |
| |
| switch (FromNaviCtrl.Command) |
| { |
| case SPI_CMD_OSD_DATA: |
| // ToFlightCtrl.Param.Byte[0] = OsdBar; |
| // ToFlightCtrl.Param.Int[1] = Distance; |
| break; |
| |
| case SPI_CMD_GPS_POS: |
| // ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
| // ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
| break; |
| |
| case SPI_CMD_GPS_TARGET: |
| // ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
| // ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
| break; |
| |
| default: |
| break; |
| } |
| } |
| else // no valid data from NaviCtrl |
| { |
| // disable GPS control |
| GPS_Pitch = 0; |
| GPS_Roll = 0; |
| } |
| } |
| |
| //------------------------------------------------------ |
| //SIGNAL(SIG_SPI) |
| void SPI_TransmitByte(void) |
| |
| |
| /*********************************************/ |
| /* Start Transmission of packet to NaviCtrl */ |
| /*********************************************/ |
| void SPI_StartTransmitPacket(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 |
| if (!SPITransferCompleted) return; // return immediately if transfer is in progress |
| else // transmission was completed |
| { |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
| |
| } |
| else SPITransferCompleted = 1; |
| |
| SPI_BufferIndex++; |
| // cyclic commands |
| ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| |
| SPITransferCompleted = 0; // tranfer is in progress |
| UpdateSPI_Buffer(); // update data in ToNaviCtrl |
| |
| SPI_TxBufferIndex = 1; //proceed with 2nd byte |
| |
| // -- 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; // init checksum |
| SPDR = ToNaviCtrl.Sync1; // send first byte |
| } |
| } |
| |
| //------------------------------------------------------ |
| // This is the spi data transfer between FlightCtrl and NaviCtrl |
| // Every time this routine is called within the mainloop one byte of the packet to |
| // the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
| |
| //------------------------------------------------------ |
| void UpdateSPI_Buffer(void) |
| void SPI_TransmitByte(void) |
| { |
| static unsigned char i =0; |
| signed int tmp; |
| cli(); |
| |
| ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108); |
| ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108); |
| ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
| ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
| ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
| NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
| // ToNaviCtrl.User8 = Parameter_UserParam8; |
| // ToNaviCtrl.CalState = WinkelOut.CalcState; |
| static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
| uint8_t rxdata; |
| static uint8_t rxchksum; |
| |
| 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; |
| break; |
| if (SPITransferCompleted) return; // return immediatly if transfer was completed |
| if (!(SPSR & (1 << SPIF))) return; // return if no SPI-IRQ pending |
| SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
| |
| 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; |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| |
| break; |
| case SPI_CMD_CAL_COMPASS: |
| if(WinkelOut.CalcState > 5) |
| { |
| WinkelOut.CalcState = 0; |
| ToNaviCtrl.Param.Byte[0] = 5; |
| } |
| else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
| 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; |
| } |
| 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_CMD_OSD_DATA: |
| // ToFlightCtrl.Param.Byte[0] = OsdBar; |
| // ToFlightCtrl.Param.Int[1] = Distance; |
| break; |
| rxdata = SPDR; // save spi data register |
| |
| case SPI_CMD_GPS_POS: |
| // ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
| // ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
| break; |
| switch (SPI_RXState) |
| { |
| case SPI_SYNC1: // first sync byte |
| SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
| rxchksum = rxdata; // initialize checksum |
| if (rxdata == SPI_RXSYNCBYTE1 ) |
| { // 1st Syncbyte found |
| SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
| } |
| break; |
| |
| case SPI_CMD_GPS_TARGET: |
| // ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
| // ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
| break; |
| case SPI_SYNC2: // second sync byte |
| if (rxdata == SPI_RXSYNCBYTE2) |
| { // 2nd Syncbyte found |
| rxchksum += rxdata; // update checksum |
| SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
| } |
| else // 2nd Syncbyte not found |
| { |
| SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
| } |
| break; |
| |
| default: |
| break; |
| } |
| } |
| else |
| { |
| // KompassValue = 0; |
| // KompassRichtung = 0; |
| |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| case SPI_DATA: // data bytes |
| SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
| // if all bytes are received of a packet from the NaviCtrl |
| if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) |
| { // last byte transfered is the checksum of the packet |
| if (rxdata == rxchksum) // checksum matching? |
| { |
| // copy SPI_RxBuffer -> FromFlightCtrl |
| uint8_t *ptr = (uint8_t *)&FromNaviCtrl; |
| cli(); |
| memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(FromNaviCtrl)); |
| sei(); |
| SPI_RxDataValid = 1; |
| DebugOut.Analog[18]++; |
| } |
| else |
| { // checksum does not match |
| DebugOut.Analog[17]++; |
| SPI_RxDataValid = 0; // reset valid flag |
| } |
| SPI_RXState = SPI_SYNC1; // reset state sync |
| } |
| else // not all bytes transfered |
| { |
| rxchksum += rxdata; // update checksum |
| } |
| break; |
| }// eof switch(SPI_RXState) |
| |
| // if still some bytes left for transmission to NaviCtrl |
| if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) |
| { |
| 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_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
| ToNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
| SPI_TxBufferIndex++; |
| } |
| else |
| { |
| //Transfer of all bytes of the packet to NaviCtrl completed |
| SPITransferCompleted = 1; |
| } |
| } |
| |
| #endif |
| |
| #endif //USE_SPI_COMMUNICATION |
| |
| |