WebSVN - FlightCtrl - Diff - Rev 855 and 871 - /branches/V0.80f_ACC-HH


// ######################## SPI - FlightCtrl ###################
#include "main.h"
 
 
//struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
//struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
struct str_ToNaviCtrl   ToNaviCtrl;
struct str_FromNaviCtrl   FromNaviCtrl;
 
unsigned char              SPI_BufferIndex;
unsigned char              SPI_RxBufferIndex;
 
volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl) + 8];
unsigned char *SPI_TX_Buffer;
 
unsigned char SPITransferCompleted, SPI_ChkSum;
unsigned char SPI_RxDataValid;
 
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;
 
#ifdef USE_SPI_COMMUNICATION
 
//------------------------------------------------------
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;
}
 
//------------------------------------------------------
void SPI_StartTransmitPacket(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
 
   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
 
}
 
//------------------------------------------------------
//SIGNAL(SIG_SPI)
void SPI_TransmitByte(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
 
         }
         else SPITransferCompleted = 1;  
       
         SPI_BufferIndex++;
}
 
 
//------------------------------------------------------
void UpdateSPI_Buffer(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;
 
   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;
 
         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;
 
            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;
 
            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
  {
//    KompassValue = 0;
//    KompassRichtung = 0;
       
        GPS_Nick = 0;
    GPS_Roll = 0;
  }
}
 
#endif
 
 
 

Rev 855	Rev 871
1	// ######################## SPI - FlightCtrl ###################	1	// ######################## SPI - FlightCtrl ###################
2	#include "main.h"	2	#include "main.h"
3		3
4		4
5	//struct str_ToNaviCtrl_Version ToNaviCtrl_Version;	5	//struct str_ToNaviCtrl_Version ToNaviCtrl_Version;
6	//struct str_FromNaviCtrl_Version FromNaviCtrl_Version;	6	//struct str_FromNaviCtrl_Version FromNaviCtrl_Version;
7	struct str_ToNaviCtrl ToNaviCtrl;	7	struct str_ToNaviCtrl ToNaviCtrl;
8	struct str_FromNaviCtrl FromNaviCtrl;	8	struct str_FromNaviCtrl FromNaviCtrl;
9		9
10	unsigned char SPI_BufferIndex;	10	unsigned char SPI_BufferIndex;
11	unsigned char SPI_RxBufferIndex;	11	unsigned char SPI_RxBufferIndex;
12		12
13	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl) + 8];	13	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl) + 8];
14	unsigned char *SPI_TX_Buffer;	14	unsigned char *SPI_TX_Buffer;
15		15
16	unsigned char SPITransferCompleted, SPI_ChkSum;	16	unsigned char SPITransferCompleted, SPI_ChkSum;
17	unsigned char SPI_RxDataValid;	17	unsigned char SPI_RxDataValid;
18		18
19	unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS };	19	unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS };
20	unsigned char SPI_CommandCounter = 0;	20	unsigned char SPI_CommandCounter = 0;
21		21
22	#ifdef USE_SPI_COMMUNICATION	22	#ifdef USE_SPI_COMMUNICATION
23		23
24	//------------------------------------------------------	24	//------------------------------------------------------
25	void SPI_MasterInit(void)	25	void SPI_MasterInit(void)
26	{	26	{
27	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input	27	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input
28	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);	28	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);
29		29
30	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPR0)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64	30	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPR0)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
31	SPSR = 0;//(1<<SPI2X);	31	SPSR = 0;//(1<<SPI2X);
32		32
33	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);	33	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);
34	SPITransferCompleted = 1;	34	SPITransferCompleted = 1;
35		35
36	//SPDR = 0x00; // dummy write	36	//SPDR = 0x00; // dummy write
37		37
38	ToNaviCtrl.Sync1 = 0xAA;	38	ToNaviCtrl.Sync1 = 0xAA;
39	ToNaviCtrl.Sync2 = 0x83;	39	ToNaviCtrl.Sync2 = 0x83;
40		40
41	ToNaviCtrl.Command = SPI_CMD_USER;	41	ToNaviCtrl.Command = SPI_CMD_USER;
42	ToNaviCtrl.IntegralNick = 0;	42	ToNaviCtrl.IntegralNick = 0;
43	ToNaviCtrl.IntegralRoll = 0;	43	ToNaviCtrl.IntegralRoll = 0;
44	SPI_RxDataValid = 0;	44	SPI_RxDataValid = 0;
45	}	45	}
46		46
47	//------------------------------------------------------	47	//------------------------------------------------------
48	void SPI_StartTransmitPacket(void)	48	void SPI_StartTransmitPacket(void)
49	{	49	{
50	//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed	50	//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed
51	if (!SPITransferCompleted) return;	51	if (!SPITransferCompleted) return;
52	// _delay_us(30);	52	// _delay_us(30);
53		53
54	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave	54	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
55	SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;	55	SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
56		56
57	ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];	57	ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
58	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;	58	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
59		59
60	SPITransferCompleted = 0;	60	SPITransferCompleted = 0;
61	UpdateSPI_Buffer(); // update buffer	61	UpdateSPI_Buffer(); // update buffer
62		62
63	SPI_BufferIndex = 1;	63	SPI_BufferIndex = 1;
64	//ebugOut.Analog[16]++;	64	//ebugOut.Analog[16]++;
65	// -- Debug-Output ---	65	// -- Debug-Output ---
66	//----	66	//----
67	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");	67	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
68	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");	68	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
69	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");	69	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
70	ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;	70	ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
71	SPDR = ToNaviCtrl.Sync1; // Start transmission	71	SPDR = ToNaviCtrl.Sync1; // Start transmission
72	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave	72	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
73		73
74	}	74	}
75		75
76	//------------------------------------------------------	76	//------------------------------------------------------
77	//SIGNAL(SIG_SPI)	77	//SIGNAL(SIG_SPI)
78	void SPI_TransmitByte(void)	78	void SPI_TransmitByte(void)
79	{	79	{
80	static unsigned char SPI_RXState = 0;	80	static unsigned char SPI_RXState = 0;
81	unsigned char rxdata;	81	unsigned char rxdata;
82	static unsigned char rxchksum;	82	static unsigned char rxchksum;
83		83
84	if (SPITransferCompleted) return;	84	if (SPITransferCompleted) return;
85	if (!(SPSR & (1 << SPIF))) return;	85	if (!(SPSR & (1 << SPIF))) return;
86	SendSPI = 4;	86	SendSPI = 4;
87		87
88	// _delay_us(30);	88	// _delay_us(30);
89	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave	89	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
90		90
91	rxdata = SPDR;	91	rxdata = SPDR;
92	switch ( SPI_RXState)	92	switch ( SPI_RXState)
93	{	93	{
94	case 0:	94	case 0:
95		95
96	SPI_RxBufferIndex = 0;	96	SPI_RxBufferIndex = 0;
97	//DebugOut.Analog[17]++;	97	//DebugOut.Analog[17]++;
98	rxchksum = rxdata;	98	rxchksum = rxdata;
99	if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok	99	if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok
100		100
101	break;	101	break;
102		102
103	case 1:	103	case 1:
104	if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok	104	if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok
105	else SPI_RXState = 0;	105	else SPI_RXState = 0;
106	//DebugOut.Analog[18]++;	106	//DebugOut.Analog[18]++;
107	break;	107	break;
108		108
109	case 2:	109	case 2:
110	SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data	110	SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data
111	//DebugOut.Analog[19]++;	111	//DebugOut.Analog[19]++;
112	if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))	112	if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
113	{	113	{
114		114
115	if (rxdata == rxchksum)	115	if (rxdata == rxchksum)
116	{	116	{
117	unsigned char ptr = (unsigned char )&FromNaviCtrl;	117	unsigned char ptr = (unsigned char )&FromNaviCtrl;
118		118
119	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));	119	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));
120		120
121	SPI_RxDataValid = 1;	121	SPI_RxDataValid = 1;
122	}	122	}
123	else SPI_RxDataValid = 0;	123	else SPI_RxDataValid = 0;
124		124
125	SPI_RXState = 0;	125	SPI_RXState = 0;
126	}	126	}
127	else rxchksum += rxdata;	127	else rxchksum += rxdata;
128	break;	128	break;
129		129
130	}	130	}
131		131
132	if (SPI_BufferIndex < sizeof(ToNaviCtrl))	132	if (SPI_BufferIndex < sizeof(ToNaviCtrl))
133	{	133	{
134	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave	134	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
135	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");	135	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
136	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");	136	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
137	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");	137	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
138		138
139	SPDR = SPI_TX_Buffer[SPI_BufferIndex];	139	SPDR = SPI_TX_Buffer[SPI_BufferIndex];
140	ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];	140	ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
141	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave	141	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
142		142
143	}	143	}
144	else SPITransferCompleted = 1;	144	else SPITransferCompleted = 1;
145		145
146	SPI_BufferIndex++;	146	SPI_BufferIndex++;
147	}	147	}
148		148
149		149
150	//------------------------------------------------------	150	//------------------------------------------------------
151	void UpdateSPI_Buffer(void)	151	void UpdateSPI_Buffer(void)
152	{	152	{
153	static unsigned char i =0;	153	static unsigned char i =0;
154	signed int tmp;	154	signed int tmp;
155	cli();	155	cli();
156		156
157	ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108);	157	ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108);
158	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108);	158	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108);
159	ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;	159	ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
160	ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc);	160	ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc);
161	ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc);	161	ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc);
162	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;	162	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
163	// ToNaviCtrl.User8 = Parameter_UserParam8;	163	// ToNaviCtrl.User8 = Parameter_UserParam8;
164	// ToNaviCtrl.CalState = WinkelOut.CalcState;	164	// ToNaviCtrl.CalState = WinkelOut.CalcState;
165		165
166	switch(ToNaviCtrl.Command) //	166	switch(ToNaviCtrl.Command) //
167	{	167	{
168	case SPI_CMD_USER:	168	case SPI_CMD_USER:
169	ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;	169	ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
170	ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;	170	ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
171	ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;	171	ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
172	ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;	172	ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
173	ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;	173	ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
174	ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;	174	ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
175	ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;	175	ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
176	break;	176	break;
177		177
178	case SPI_CMD_STICK:	178	case SPI_CMD_STICK:
179	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 128) tmp = 128; else if(tmp < -127) tmp = -127;	179	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
180	ToNaviCtrl.Param.Byte[0] = (char) tmp;	180	ToNaviCtrl.Param.Byte[0] = (char) tmp;
181	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 128) tmp = 128; else if(tmp < -127) tmp = -127;	181	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
182	ToNaviCtrl.Param.Byte[1] = (char) tmp;	182	ToNaviCtrl.Param.Byte[1] = (char) tmp;
183	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 128) tmp = 128; else if(tmp < -127) tmp = -127;	183	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
184	ToNaviCtrl.Param.Byte[2] = (char) tmp;	184	ToNaviCtrl.Param.Byte[2] = (char) tmp;
185	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 128) tmp = 128; else if(tmp < -127) tmp = -127;	185	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
186	ToNaviCtrl.Param.Byte[3] = (char) tmp;	186	ToNaviCtrl.Param.Byte[3] = (char) tmp;
187	ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;	187	ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;
188	ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;	188	ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;
189	ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;	189	ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
190	ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;	190	ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
191	ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;	191	ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
192		192
193	break;	193	break;
194	case SPI_CMD_CAL_COMPASS:	194	case SPI_CMD_CAL_COMPASS:
195	if(WinkelOut.CalcState > 5)	195	if(WinkelOut.CalcState > 5)
196	{	196	{
197	WinkelOut.CalcState = 0;	197	WinkelOut.CalcState = 0;
198	ToNaviCtrl.Param.Byte[0] = 5;	198	ToNaviCtrl.Param.Byte[0] = 5;
199	}	199	}
200	else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;	200	else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
201	break;	201	break;
202	}	202	}
203		203
204	sei();	204	sei();
205		205
206	if (SPI_RxDataValid)	206	if (SPI_RxDataValid)
207	{	207	{
208	if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))	208	if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
209	{	209	{
210	GPS_Nick = FromNaviCtrl.GPS_Nick;	210	GPS_Nick = FromNaviCtrl.GPS_Nick;
211	GPS_Roll = FromNaviCtrl.GPS_Roll;	211	GPS_Roll = FromNaviCtrl.GPS_Roll;
212	}	212	}
213	if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;	213	if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;
214	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	214	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
215		215
216	if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;	216	if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
217		217
218	switch (FromNaviCtrl.Command)	218	switch (FromNaviCtrl.Command)
219	{	219	{
220	case SPI_CMD_OSD_DATA:	220	case SPI_CMD_OSD_DATA:
221	// ToFlightCtrl.Param.Byte[0] = OsdBar;	221	// ToFlightCtrl.Param.Byte[0] = OsdBar;
222	// ToFlightCtrl.Param.Int[1] = Distance;	222	// ToFlightCtrl.Param.Int[1] = Distance;
223	break;	223	break;
224		224
225	case SPI_CMD_GPS_POS:	225	case SPI_CMD_GPS_POS:
226	// ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude;	226	// ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude;
227	// ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude;	227	// ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude;
228	break;	228	break;
229		229
230	case SPI_CMD_GPS_TARGET:	230	case SPI_CMD_GPS_TARGET:
231	// ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude;	231	// ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude;
232	// ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude;	232	// ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude;
233	break;	233	break;
234		234
235	default:	235	default:
236	break;	236	break;
237	}	237	}
238	}	238	}
239	else	239	else
240	{	240	{
241	// KompassValue = 0;	241	// KompassValue = 0;
242	// KompassRichtung = 0;	242	// KompassRichtung = 0;
243		243
244	GPS_Nick = 0;	244	GPS_Nick = 0;
245	GPS_Roll = 0;	245	GPS_Roll = 0;
246	}	246	}
247	}	247	}
248		248
249	#endif	249	#endif
250		250
251		251
252		252

Subversion Repositories FlightCtrl

(root)/branches/V0.80f_ACC-HH_MartinR/spi.c @ 1728 - Rev 855 → 871