Subversion Repositories NaviCtrl

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Ignore whitespace Rev 69 → Rev 70

/tags/V0.14a/spi_slave.c
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/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
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//
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include <string.h>
#include "91x_lib.h"
#include "led.h"
#include "GPS.h"
#include "uart1.h"
#include "spi_slave.h"
#include "i2c.h"
#include "timer.h"
#include "main.h"
#include "fifo.h"
 
 
#define SPI_RXSYNCBYTE1 0xAA
#define SPI_RXSYNCBYTE2 0x83
#define SPI_TXSYNCBYTE1 0x81
#define SPI_TXSYNCBYTE2 0x55
 
typedef enum
{
SPI_SYNC1,
SPI_SYNC2,
SPI_DATA
} SPI_State_t;
 
//communication packets
volatile FromFlightCtrl_t FromFlightCtrl;
volatile ToFlightCtrl_t ToFlightCtrl;
 
// tx packet buffer
#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization
volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN];
volatile u8 SPI_TxBufferIndex = 0;
u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer
 
// rx packet buffer
#define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl)
volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN];
volatile u8 SPI_RxBufferIndex = 0;
volatile u8 SPI_RxBuffer_Request = 0;
#define SPI_COMMAND_INDEX 0
 
s32 FC_Kalman_K = 32;
s32 Kalman_MaxDrift = 5 * 16;
s32 Kalman_MaxFusion = 64;
u32 CheckSPIOkay = 0;
 
u8 SPI_CommandSequence[] = { SPI_KALMAN };//, SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_KALMAN, SPI_CMD_GPS_TARGET};
u8 SPI_CommandCounter = 0;
 
SPI_Version_t FC_Version;
 
u8 CompassCalStateQueue[10];
fifo_t CompassCalcStateFiFo;
 
u8 CompassCalState = 0;
 
//--------------------------------------------------------------
void SSP0_IRQHandler(void)
{
static u8 rxchksum = 0;
u8 rxdata;
static SPI_State_t SPI_State = SPI_SYNC1;
 
// clear pending bit
SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
// Fill TxFIFO while its not full or end of packet is reached
while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
{
if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
{
SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
SPI_TxBufferIndex++; // pointer to next byte
}
else // TxBuffer end is reached then reset and copy data to tx buffer
{
SPI_TxBufferIndex = 0; // reset buffer index
ToFlightCtrl.Chksum = 0; // initialize checksum
ToFlightCtrl.BeepTime = BeepTime; // set beeptime
BeepTime = 0; // reset local beeptime
// copy contents of ToFlightCtrl->SPI_TxBuffer
memcpy( (u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl));
}
}
// while RxFIFO not empty
while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
{
rxdata = SSP0->DR; // catch the received byte
// Fill TxFIFO while its not full or end of packet is reached
while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
{
if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
{
SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
SPI_TxBufferIndex++; // pointer to next byte
}
else // end of packet is reached reset and copy data to tx buffer
{
SPI_TxBufferIndex = 0; // reset buffer index
ToFlightCtrl.Chksum = 0; // initialize checksum
ToFlightCtrl.BeepTime = BeepTime; // set beeptime
BeepTime = 0; // reset local beeptime
// copy contents of ToFlightCtrl->SPI_TxBuffer
memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl));
}
}
switch (SPI_State)
{
case SPI_SYNC1:
SPI_RxBufferIndex = 0; // reset buffer index
rxchksum = rxdata; // init checksum
if (rxdata == SPI_RXSYNCBYTE1)
{ // 1st syncbyte ok
SPI_State = SPI_SYNC2; // step to sync2
}
break;
case SPI_SYNC2:
if (rxdata == SPI_RXSYNCBYTE2)
{ // 2nd Syncbyte ok
rxchksum += rxdata;
SPI_State = SPI_DATA;
} // 2nd Syncbyte does not match
else
{
SPI_State = SPI_SYNC1; //jump back to sync1
}
break;
case SPI_DATA:
SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer
if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached
{
if (rxdata == rxchksum) // verify checksum byte
{
// copy SPI_RxBuffer -> FromFlightCtrl
if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access
{
memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl));
SPI_RxBuffer_Request = 1;
}
CheckSPIOkay++;
DebugOut.Analog[13]++;
}
else // bad checksum byte
{
DebugOut.Analog[12]++; // increase SPI chksum error counter
}
SPI_State = SPI_SYNC1; // reset state
}
else // end of packet not reached
{
rxchksum += rxdata; // update checksum
}
break;
default:
SPI_State = SPI_SYNC1;
break;
}
}
}
 
//--------------------------------------------------------------
void SPI0_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
SSP_InitTypeDef SSP_InitStructure;
 
SerialPutString("\r\n SPI init...");
 
SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE);
SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
 
GPIO_DeInit(GPIO2);
//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
GPIO_Init (GPIO2, &GPIO_InitStructure);
 
// SSP0_MISO pin GPIO2.6
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO
GPIO_Init (GPIO2, &GPIO_InitStructure);
 
SSP_DeInit(SSP0);
SSP_StructInit(&SSP_InitStructure);
SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola;
SSP_InitStructure.SSP_Mode = SSP_Mode_Slave;
SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable;
SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
SSP_InitStructure.SSP_ClockRate = 0;
 
SSP_Init(SSP0, &SSP_InitStructure);
 
SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE);
 
fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue));
 
SSP_Cmd(SSP0, ENABLE);
// initialize the syncbytes in the tx buffer
SPI_TxBuffer[0] = SPI_TXSYNCBYTE1;
SPI_TxBuffer[1] = SPI_TXSYNCBYTE2;
// set the pointer to the checksum byte in the tx buffer
Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum);
 
VIC_Config(SSP0_ITLine, VIC_IRQ, 1);
VIC_ITCmd(SSP0_ITLine, ENABLE);
 
SerialPutString("ok");
}
 
//------------------------------------------------------
void SPI0_UpdateBuffer(void)
{
if (SPI_RxBuffer_Request)
{
// avoid sending data via SPI during the update of the ToFlightCtrl structure
VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
 
ToFlightCtrl.CompassHeading = I2C_Heading.Heading;
ToFlightCtrl.GPS_Nick = GPS_Stick.Nick;
ToFlightCtrl.GPS_Roll = GPS_Stick.Roll;
ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw;
// cycle spi commands
ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
 
switch (ToFlightCtrl.Command)
{
case SPI_KALMAN:
ToFlightCtrl.Param.Byte[0] = (char) FC_Kalman_K;
ToFlightCtrl.Param.Byte[1] = (char) Kalman_MaxFusion;
ToFlightCtrl.Param.Byte[2] = (char) Kalman_MaxDrift;
break;
 
default:
break;
}
VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt
 
 
switch(FromFlightCtrl.Command)
{
case SPI_CMD_USER:
Parameter.User1 = FromFlightCtrl.Param.Byte[0];
Parameter.User2 = FromFlightCtrl.Param.Byte[1];
Parameter.User3 = FromFlightCtrl.Param.Byte[2];
Parameter.User4 = FromFlightCtrl.Param.Byte[3];
Parameter.User5 = FromFlightCtrl.Param.Byte[4];
Parameter.User6 = FromFlightCtrl.Param.Byte[5];
Parameter.User7 = FromFlightCtrl.Param.Byte[6];
Parameter.User8 = FromFlightCtrl.Param.Byte[7];
if(ClearMKFlags)
{
FC.MKFlags = 0;
ClearMKFlags = 0;
}
FC.MKFlags |= FromFlightCtrl.Param.Byte[8];
FC.UBat = FromFlightCtrl.Param.Byte[9];
Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10];
Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11];
break;
 
#define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = FC.Poti1; else if(a == 252) b = FC.Poti2; else if(a == 253) b = FC.Poti3; else if(a == 254) b = FC.Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}
case SPI_CMD_PARAMETER1:
CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255);
CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],10,255);
CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255);
CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
// DebugOut.Analog[4] = Parameter.NaviRadiusAlert;
// DebugOut.Analog[5] = Parameter.NaviWindCorrection;
// DebugOut.Analog[6] = Parameter.NaviSpeedCompensation;
break;
 
case SPI_CMD_STICK:
FC.StickGas = FromFlightCtrl.Param.sByte[0];
FC.StickYaw = FromFlightCtrl.Param.sByte[1];
FC.StickRoll = FromFlightCtrl.Param.sByte[2];
FC.StickNick = FromFlightCtrl.Param.sByte[3];
FC.Poti1 = FromFlightCtrl.Param.Byte[4];
FC.Poti2 = FromFlightCtrl.Param.Byte[5];
FC.Poti3 = FromFlightCtrl.Param.Byte[6];
FC.Poti4 = FromFlightCtrl.Param.Byte[7];
FC.RC_Quality = FromFlightCtrl.Param.Byte[8];
break;
 
case SPI_CMD_MISC:
if(CompassCalState != FromFlightCtrl.Param.Byte[0])
{ // put only new CompassCalState into queue to send via I2C
CompassCalState = FromFlightCtrl.Param.Byte[0];
fifo_put(&CompassCalcStateFiFo, CompassCalState);
}
Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1];
NaviData.Variometer = (NaviData.Variometer + 2 * ((s16) FromFlightCtrl.Param.Int[1] - NaviData.Altimeter)) / 2; // provisorisch
NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3
CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[4],0,255);
CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[5],0,255);
CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[6],0,255);
break;
 
case SPI_CMD_VERSION:
FC_Version.Major = FromFlightCtrl.Param.Byte[0];
FC_Version.Minor = FromFlightCtrl.Param.Byte[1];
FC_Version.Patch = FromFlightCtrl.Param.Byte[2];
FC_Version.Compatible = FromFlightCtrl.Param.Byte[3];
FC_Version.Hardware = FromFlightCtrl.Param.Byte[4];
break;
 
default:
break;
}
 
// every time we got new data from the FC via SPI call the navigation routine
GPS_Navigation();
ClearMKFlags = 1;
 
SPI_RxBuffer_Request = 0;
 
DebugOut.Analog[0] = FromFlightCtrl.AngleNick;
DebugOut.Analog[1] = FromFlightCtrl.AngleRoll;
DebugOut.Analog[2] = FromFlightCtrl.AccNick;
DebugOut.Analog[3] = FromFlightCtrl.AccRoll;
DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg
Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
} // EOF if(SPI_RxBuffer_Request)
}
 
//------------------------------------------------------
void SPI0_GetFlightCtrlVersion(void)
{
u16 timeout;
u8 msg[20];
 
FC_Version.Major = 0xFF;
FC_Version.Minor = 0xFF;
FC_Version.Patch = 0xFF;
FC_Version.Compatible = 0xFF;
 
// polling FC version info for 2 second
timeout = SetDelay(2000);
do
{
SPI0_UpdateBuffer();
if (FC_Version.Major != 0xFF) break;
}while (!CheckDelay(timeout));
// if we got it
if (FC_Version.Major != 0xFF)
{
sprintf(msg, "\n\r FlightCtrl V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10);
SerialPutString(msg);
sprintf(msg, " Compatible: %d", FC_Version.Compatible);
SerialPutString(msg);
}
else SerialPutString("\n\r No version information from FlightCtrl.");
}