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1 | // ######################## SPI - FlightCtrl ################### |
1 | // ######################## SPI - FlightCtrl ################### |
2 | #include <avr/io.h> |
2 | #include <avr/io.h> |
3 | #include <avr/interrupt.h> |
3 | #include <avr/interrupt.h> |
4 | #include <string.h> |
4 | #include <string.h> |
5 | #include <stdlib.h> |
5 | #include <stdlib.h> |
6 | #include "_Settings.h" |
6 | #include "_Settings.h" |
7 | #include "spi.h" |
7 | #include "spi.h" |
8 | #include "fc.h" |
8 | #include "fc.h" |
9 | #include "rc.h" |
9 | #include "rc.h" |
10 | #include "eeprom.h" |
10 | #include "eeprom.h" |
11 | #include "uart.h" |
11 | #include "uart.h" |
12 | #include "timer0.h" |
12 | #include "timer0.h" |
13 | 13 | ||
14 | #define SPI_TXSYNCBYTE1 0xAA |
14 | #define SPI_TXSYNCBYTE1 0xAA |
15 | #define SPI_TXSYNCBYTE2 0x83 |
15 | #define SPI_TXSYNCBYTE2 0x83 |
16 | #define SPI_RXSYNCBYTE1 0x81 |
16 | #define SPI_RXSYNCBYTE1 0x81 |
17 | #define SPI_RXSYNCBYTE2 0x55 |
17 | #define SPI_RXSYNCBYTE2 0x55 |
18 | 18 | ||
19 | typedef enum |
19 | typedef enum |
20 | { |
20 | { |
21 | SPI_SYNC1, |
21 | SPI_SYNC1, |
22 | SPI_SYNC2, |
22 | SPI_SYNC2, |
23 | SPI_DATA |
23 | SPI_DATA |
24 | } SPI_RXState_t; |
24 | } SPI_RXState_t; |
25 | 25 | ||
26 | 26 | ||
27 | // data exchange packets to and From NaviCtrl |
27 | // data exchange packets to and From NaviCtrl |
28 | ToNaviCtrl_t ToNaviCtrl; |
28 | ToNaviCtrl_t ToNaviCtrl; |
29 | FromNaviCtrl_t FromNaviCtrl; |
29 | FromNaviCtrl_t FromNaviCtrl; |
30 | 30 | ||
31 | // rx packet buffer |
31 | // rx packet buffer |
32 | #define SPI_RXBUFFER_LEN sizeof(FromNaviCtrl) |
32 | #define SPI_RXBUFFER_LEN sizeof(FromNaviCtrl) |
33 | uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
33 | uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
34 | uint8_t SPI_RxBufferIndex = 0; |
34 | uint8_t SPI_RxBufferIndex = 0; |
35 | uint8_t SPI_RxBuffer_Request = 0; |
35 | uint8_t SPI_RxBuffer_Request = 0; |
36 | 36 | ||
37 | // tx packet buffer |
37 | // tx packet buffer |
38 | #define SPI_TXBUFFER_LEN sizeof(ToNaviCtrl) |
38 | #define SPI_TXBUFFER_LEN sizeof(ToNaviCtrl) |
39 | uint8_t *SPI_TxBuffer; |
39 | uint8_t *SPI_TxBuffer; |
40 | uint8_t SPI_TxBufferIndex = 0; |
40 | uint8_t SPI_TxBufferIndex = 0; |
41 | 41 | ||
42 | uint8_t SPITransferCompleted, SPI_ChkSum; |
42 | uint8_t SPITransferCompleted, SPI_ChkSum; |
43 | uint8_t SPI_RxDataValid; |
43 | uint8_t SPI_RxDataValid; |
44 | 44 | ||
45 | uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS }; |
45 | uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS }; |
46 | uint8_t SPI_CommandCounter = 0; |
46 | uint8_t SPI_CommandCounter = 0; |
47 | 47 | ||
48 | #ifdef USE_SPI_COMMUNICATION |
48 | #ifdef USE_SPI_COMMUNICATION |
49 | 49 | ||
50 | /*********************************************/ |
50 | /*********************************************/ |
51 | /* Initialize SPI interface to NaviCtrl */ |
51 | /* Initialize SPI interface to NaviCtrl */ |
52 | /*********************************************/ |
52 | /*********************************************/ |
53 | void SPI_MasterInit(void) |
53 | void SPI_MasterInit(void) |
54 | { |
54 | { |
55 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
55 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
56 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
56 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
57 | 57 | ||
58 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
58 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
59 | SPSR = 0;//(1<<SPI2X); |
59 | SPSR = 0;//(1<<SPI2X); |
60 | 60 | ||
61 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave |
61 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave |
62 | 62 | ||
63 | SPI_TxBuffer = (uint8_t *) &ToNaviCtrl; // set pointer to tx-buffer |
63 | SPI_TxBuffer = (uint8_t *) &ToNaviCtrl; // set pointer to tx-buffer |
64 | SPITransferCompleted = 1; |
64 | SPITransferCompleted = 1; |
65 | // initialize data packet to NaviControl |
65 | // initialize data packet to NaviControl |
66 | ToNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
66 | ToNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
67 | ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
67 | ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
68 | 68 | ||
69 | ToNaviCtrl.Command = SPI_CMD_USER; |
69 | ToNaviCtrl.Command = SPI_CMD_USER; |
70 | ToNaviCtrl.IntegralPitch = 0; |
70 | ToNaviCtrl.IntegralNick = 0; |
71 | ToNaviCtrl.IntegralRoll = 0; |
71 | ToNaviCtrl.IntegralRoll = 0; |
72 | SPI_RxDataValid = 0; |
72 | SPI_RxDataValid = 0; |
73 | } |
73 | } |
74 | 74 | ||
75 | 75 | ||
76 | /**********************************************************/ |
76 | /**********************************************************/ |
77 | /* Update Data transferd by the SPI from/to NaviCtrl */ |
77 | /* Update Data transferd by the SPI from/to NaviCtrl */ |
78 | /**********************************************************/ |
78 | /**********************************************************/ |
79 | void UpdateSPI_Buffer(void) |
79 | void UpdateSPI_Buffer(void) |
80 | { |
80 | { |
81 | int16_t tmp; |
81 | int16_t tmp; |
82 | cli(); // stop all interrupts to avoid writing of new data during update of that packet. |
82 | cli(); // stop all interrupts to avoid writing of new data during update of that packet. |
83 | 83 | ||
84 | // update content of packet to NaviCtrl |
84 | // update content of packet to NaviCtrl |
85 | ToNaviCtrl.IntegralPitch = (int16_t) (IntegralPitch / 108); |
85 | ToNaviCtrl.IntegralNick = (int16_t) (IntegralNick / 108); |
86 | ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 108); |
86 | ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 108); |
87 | ToNaviCtrl.GyroHeading = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
87 | ToNaviCtrl.GyroHeading = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
88 | ToNaviCtrl.GyroPitch = Reading_GyroPitch; |
88 | ToNaviCtrl.GyroNick = Reading_GyroNick; |
89 | ToNaviCtrl.GyroRoll = Reading_GyroRoll; |
89 | ToNaviCtrl.GyroRoll = Reading_GyroRoll; |
90 | ToNaviCtrl.GyroYaw = Reading_GyroYaw; |
90 | ToNaviCtrl.GyroYaw = Reading_GyroYaw; |
91 | ToNaviCtrl.AccPitch = (int16_t) ACC_AMPLIFY * (NaviAccPitch / NaviCntAcc); |
91 | ToNaviCtrl.AccNick = (int16_t) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
92 | ToNaviCtrl.AccRoll = (int16_t) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
92 | ToNaviCtrl.AccRoll = (int16_t) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
93 | NaviCntAcc = 0; NaviAccPitch = 0; NaviAccRoll = 0; |
93 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
94 | 94 | ||
95 | switch(ToNaviCtrl.Command) |
95 | switch(ToNaviCtrl.Command) |
96 | { |
96 | { |
97 | case SPI_CMD_USER: |
97 | case SPI_CMD_USER: |
98 | ToNaviCtrl.Param.Byte[0] = FCParam.UserParam1; |
98 | ToNaviCtrl.Param.Byte[0] = FCParam.UserParam1; |
99 | ToNaviCtrl.Param.Byte[1] = FCParam.UserParam2; |
99 | ToNaviCtrl.Param.Byte[1] = FCParam.UserParam2; |
100 | ToNaviCtrl.Param.Byte[2] = FCParam.UserParam3; |
100 | ToNaviCtrl.Param.Byte[2] = FCParam.UserParam3; |
101 | ToNaviCtrl.Param.Byte[3] = FCParam.UserParam4; |
101 | ToNaviCtrl.Param.Byte[3] = FCParam.UserParam4; |
102 | ToNaviCtrl.Param.Byte[4] = FCParam.UserParam5; |
102 | ToNaviCtrl.Param.Byte[4] = FCParam.UserParam5; |
103 | ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6; |
103 | ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6; |
104 | ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7; |
104 | ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7; |
105 | ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8; |
105 | ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8; |
106 | break; |
106 | break; |
107 | 107 | ||
108 | case SPI_CMD_STICK: |
108 | case SPI_CMD_STICK: |
109 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
109 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
110 | ToNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
110 | ToNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
111 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
111 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
112 | ToNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
112 | ToNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
113 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
113 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
114 | ToNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
114 | ToNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
115 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
115 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
116 | ToNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
116 | ToNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
117 | ToNaviCtrl.Param.Byte[4] = (uint8_t) Poti1; |
117 | ToNaviCtrl.Param.Byte[4] = (uint8_t) Poti1; |
118 | ToNaviCtrl.Param.Byte[5] = (uint8_t) Poti2; |
118 | ToNaviCtrl.Param.Byte[5] = (uint8_t) Poti2; |
119 | ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3; |
119 | ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3; |
120 | ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4; |
120 | ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4; |
121 | ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
121 | ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
- | 122 | ToNaviCtrl.Param.Byte[9] = (uint8_t) MotorsOn; |
|
122 | break; |
123 | break; |
123 | 124 | ||
124 | case SPI_CMD_CAL_COMPASS: |
125 | case SPI_CMD_CAL_COMPASS: |
125 | if(CompassCalState > 5) |
126 | if(CompassCalState > 5) |
126 | { |
127 | { |
127 | CompassCalState = 0; |
128 | CompassCalState = 0; |
128 | ToNaviCtrl.Param.Byte[0] = 5; |
129 | ToNaviCtrl.Param.Byte[0] = 5; |
129 | } |
130 | } |
130 | else |
131 | else |
131 | { |
132 | { |
132 | ToNaviCtrl.Param.Byte[0] = CompassCalState; |
133 | ToNaviCtrl.Param.Byte[0] = CompassCalState; |
133 | } |
134 | } |
134 | break; |
135 | break; |
135 | } |
136 | } |
136 | 137 | ||
137 | 138 | ||
138 | sei(); // enable all interrupts |
139 | sei(); // enable all interrupts |
139 | 140 | ||
140 | // analyze content of packet from NaviCtrl if valid |
141 | // analyze content of packet from NaviCtrl if valid |
141 | if (SPI_RxDataValid) |
142 | if (SPI_RxDataValid) |
142 | { |
143 | { |
143 | // update gps controls |
144 | // update gps controls |
144 | if(abs(FromNaviCtrl.GPS_Pitch) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
145 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
145 | { |
146 | { |
146 | GPS_Pitch = FromNaviCtrl.GPS_Pitch; |
147 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
147 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
148 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
148 | } |
149 | } |
149 | // update compass readings |
150 | // update compass readings |
150 | if(FromNaviCtrl.CompassHeading <= 360) |
151 | if(FromNaviCtrl.CompassHeading <= 360) |
151 | { |
152 | { |
152 | CompassHeading = FromNaviCtrl.CompassHeading; |
153 | CompassHeading = FromNaviCtrl.CompassHeading; |
153 | } |
154 | } |
154 | if(CompassHeading < 0) CompassOffCourse = 0; |
155 | if(CompassHeading < 0) CompassOffCourse = 0; |
155 | else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
156 | else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
156 | // NaviCtrl wants to beep? |
157 | // NaviCtrl wants to beep? |
157 | if (FromNaviCtrl.BeepTime > BeepTime && !CompassCalState) BeepTime = FromNaviCtrl.BeepTime; |
158 | if (FromNaviCtrl.BeepTime > BeepTime && !CompassCalState) BeepTime = FromNaviCtrl.BeepTime; |
158 | 159 | ||
159 | switch (FromNaviCtrl.Command) |
160 | switch (FromNaviCtrl.Command) |
160 | { |
161 | { |
161 | case SPI_CMD_OSD_DATA: |
162 | case SPI_CMD_OSD_DATA: |
162 | // ToFlightCtrl.Param.Byte[0] = OsdBar; |
163 | // ToFlightCtrl.Param.Byte[0] = OsdBar; |
163 | // ToFlightCtrl.Param.Int[1] = Distance; |
164 | // ToFlightCtrl.Param.Int[1] = Distance; |
164 | break; |
165 | break; |
165 | 166 | ||
166 | case SPI_CMD_GPS_POS: |
167 | case SPI_CMD_GPS_POS: |
167 | // ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
168 | // ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
168 | // ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
169 | // ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
169 | break; |
170 | break; |
170 | 171 | ||
171 | case SPI_CMD_GPS_TARGET: |
172 | case SPI_CMD_GPS_TARGET: |
172 | // ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
173 | // ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
173 | // ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
174 | // ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
174 | break; |
175 | break; |
175 | 176 | ||
176 | default: |
177 | default: |
177 | break; |
178 | break; |
178 | } |
179 | } |
179 | } |
180 | } |
180 | else // no valid data from NaviCtrl |
181 | else // no valid data from NaviCtrl |
181 | { |
182 | { |
182 | // disable GPS control |
183 | // disable GPS control |
183 | GPS_Pitch = 0; |
184 | GPS_Nick = 0; |
184 | GPS_Roll = 0; |
185 | GPS_Roll = 0; |
185 | } |
186 | } |
186 | } |
187 | } |
187 | 188 | ||
188 | 189 | ||
189 | 190 | ||
190 | /*********************************************/ |
191 | /*********************************************/ |
191 | /* Start Transmission of packet to NaviCtrl */ |
192 | /* Start Transmission of packet to NaviCtrl */ |
192 | /*********************************************/ |
193 | /*********************************************/ |
193 | void SPI_StartTransmitPacket(void) |
194 | void SPI_StartTransmitPacket(void) |
194 | { |
195 | { |
195 | 196 | ||
196 | if (!SPITransferCompleted) return; // return immediately if transfer is in progress |
197 | if (!SPITransferCompleted) return; // return immediately if transfer is in progress |
197 | else // transmission was completed |
198 | else // transmission was completed |
198 | { |
199 | { |
199 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
200 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
200 | 201 | ||
201 | // cyclic commands |
202 | // cyclic commands |
202 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
203 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
203 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
204 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
204 | 205 | ||
205 | SPITransferCompleted = 0; // tranfer is in progress |
206 | SPITransferCompleted = 0; // tranfer is in progress |
206 | UpdateSPI_Buffer(); // update data in ToNaviCtrl |
207 | UpdateSPI_Buffer(); // update data in ToNaviCtrl |
207 | 208 | ||
208 | SPI_TxBufferIndex = 1; //proceed with 2nd byte |
209 | SPI_TxBufferIndex = 1; //proceed with 2nd byte |
209 | 210 | ||
210 | // -- Debug-Output --- |
211 | // -- Debug-Output --- |
211 | //---- |
212 | //---- |
212 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
213 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
213 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
214 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
214 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
215 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
215 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; // init checksum |
216 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; // init checksum |
216 | SPDR = ToNaviCtrl.Sync1; // send first byte |
217 | SPDR = ToNaviCtrl.Sync1; // send first byte |
217 | } |
218 | } |
218 | } |
219 | } |
219 | 220 | ||
220 | //------------------------------------------------------ |
221 | //------------------------------------------------------ |
221 | // This is the spi data transfer between FlightCtrl and NaviCtrl |
222 | // This is the spi data transfer between FlightCtrl and NaviCtrl |
222 | // Every time this routine is called within the mainloop one byte of the packet to |
223 | // Every time this routine is called within the mainloop one byte of the packet to |
223 | // the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
224 | // the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
224 | 225 | ||
225 | void SPI_TransmitByte(void) |
226 | void SPI_TransmitByte(void) |
226 | { |
227 | { |
227 | static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
228 | static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
228 | uint8_t rxdata; |
229 | uint8_t rxdata; |
229 | static uint8_t rxchksum; |
230 | static uint8_t rxchksum; |
230 | 231 | ||
231 | if (SPITransferCompleted) return; // return immediatly if transfer was completed |
232 | if (SPITransferCompleted) return; // return immediatly if transfer was completed |
232 | if (!(SPSR & (1 << SPIF))) return; // return if no SPI-IRQ pending |
233 | if (!(SPSR & (1 << SPIF))) return; // return if no SPI-IRQ pending |
233 | SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
234 | SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
234 | 235 | ||
235 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
236 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
236 | 237 | ||
237 | rxdata = SPDR; // save spi data register |
238 | rxdata = SPDR; // save spi data register |
238 | 239 | ||
239 | switch (SPI_RXState) |
240 | switch (SPI_RXState) |
240 | { |
241 | { |
241 | case SPI_SYNC1: // first sync byte |
242 | case SPI_SYNC1: // first sync byte |
242 | SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
243 | SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
243 | rxchksum = rxdata; // initialize checksum |
244 | rxchksum = rxdata; // initialize checksum |
244 | if (rxdata == SPI_RXSYNCBYTE1 ) |
245 | if (rxdata == SPI_RXSYNCBYTE1 ) |
245 | { // 1st Syncbyte found |
246 | { // 1st Syncbyte found |
246 | SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
247 | SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
247 | } |
248 | } |
248 | break; |
249 | break; |
249 | 250 | ||
250 | case SPI_SYNC2: // second sync byte |
251 | case SPI_SYNC2: // second sync byte |
251 | if (rxdata == SPI_RXSYNCBYTE2) |
252 | if (rxdata == SPI_RXSYNCBYTE2) |
252 | { // 2nd Syncbyte found |
253 | { // 2nd Syncbyte found |
253 | rxchksum += rxdata; // update checksum |
254 | rxchksum += rxdata; // update checksum |
254 | SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
255 | SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
255 | } |
256 | } |
256 | else // 2nd Syncbyte not found |
257 | else // 2nd Syncbyte not found |
257 | { |
258 | { |
258 | SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
259 | SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
259 | } |
260 | } |
260 | break; |
261 | break; |
261 | 262 | ||
262 | case SPI_DATA: // data bytes |
263 | case SPI_DATA: // data bytes |
263 | SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
264 | SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
264 | // if all bytes are received of a packet from the NaviCtrl |
265 | // if all bytes are received of a packet from the NaviCtrl |
265 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) |
266 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) |
266 | { // last byte transfered is the checksum of the packet |
267 | { // last byte transfered is the checksum of the packet |
267 | if (rxdata == rxchksum) // checksum matching? |
268 | if (rxdata == rxchksum) // checksum matching? |
268 | { |
269 | { |
269 | // copy SPI_RxBuffer -> FromFlightCtrl |
270 | // copy SPI_RxBuffer -> FromFlightCtrl |
270 | uint8_t *ptr = (uint8_t *)&FromNaviCtrl; |
271 | uint8_t *ptr = (uint8_t *)&FromNaviCtrl; |
271 | cli(); |
272 | cli(); |
272 | memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(FromNaviCtrl)); |
273 | memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(FromNaviCtrl)); |
273 | sei(); |
274 | sei(); |
274 | SPI_RxDataValid = 1; |
275 | SPI_RxDataValid = 1; |
275 | DebugOut.Analog[18]++; |
276 | DebugOut.Analog[18]++; |
276 | } |
277 | } |
277 | else |
278 | else |
278 | { // checksum does not match |
279 | { // checksum does not match |
279 | DebugOut.Analog[17]++; |
280 | DebugOut.Analog[17]++; |
280 | SPI_RxDataValid = 0; // reset valid flag |
281 | SPI_RxDataValid = 0; // reset valid flag |
281 | } |
282 | } |
282 | SPI_RXState = SPI_SYNC1; // reset state sync |
283 | SPI_RXState = SPI_SYNC1; // reset state sync |
283 | } |
284 | } |
284 | else // not all bytes transfered |
285 | else // not all bytes transfered |
285 | { |
286 | { |
286 | rxchksum += rxdata; // update checksum |
287 | rxchksum += rxdata; // update checksum |
287 | } |
288 | } |
288 | break; |
289 | break; |
289 | }// eof switch(SPI_RXState) |
290 | }// eof switch(SPI_RXState) |
290 | 291 | ||
291 | // if still some bytes left for transmission to NaviCtrl |
292 | // if still some bytes left for transmission to NaviCtrl |
292 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) |
293 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) |
293 | { |
294 | { |
294 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
295 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
295 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
296 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
296 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
297 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
297 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
298 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
298 | 299 | ||
299 | SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
300 | SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
300 | ToNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
301 | ToNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
301 | SPI_TxBufferIndex++; |
302 | SPI_TxBufferIndex++; |
302 | } |
303 | } |
303 | else |
304 | else |
304 | { |
305 | { |
305 | //Transfer of all bytes of the packet to NaviCtrl completed |
306 | //Transfer of all bytes of the packet to NaviCtrl completed |
306 | SPITransferCompleted = 1; |
307 | SPITransferCompleted = 1; |
307 | } |
308 | } |
308 | } |
309 | } |
309 | 310 | ||
310 | 311 | ||
311 | #endif //USE_SPI_COMMUNICATION |
312 | #endif //USE_SPI_COMMUNICATION |
312 | 313 | ||
313 | 314 | ||
314 | 315 |