WebSVN - FlightCtrl - Diff - Rev 921 and 978 - /branches/V0.86d_ACC-HH_HR


// ######################## 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;
struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
 
unsigned char              SPI_BufferIndex;
unsigned char              SPI_RxBufferIndex;
 
volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
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_PARAMETER1, 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;
                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;
                MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START);
                    ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;
                    ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung;
                    ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
        break;
 
         case SPI_CMD_PARAMETER1:
                                ToNaviCtrl.Param.Byte[0] = Parameter_NaviGpsModeControl;     // Parameters for the Naviboard
                                ToNaviCtrl.Param.Byte[1] = Parameter_NaviGpsGain;    
                                ToNaviCtrl.Param.Byte[2] = Parameter_NaviGpsP;        
                                ToNaviCtrl.Param.Byte[3] = Parameter_NaviGpsI;        
                                ToNaviCtrl.Param.Byte[4] = Parameter_NaviGpsD;        
                                ToNaviCtrl.Param.Byte[5] = Parameter_NaviGpsACC;        
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;        
                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;        
                ToNaviCtrl.Param.Byte[8] = 15; // MaxRadius
            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:
               FromNaviCtrl_Value.OsdBar = FromNaviCtrl.Param.Byte[0];
               FromNaviCtrl_Value.Distance = FromNaviCtrl.Param.Int[1];
                  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 921	Rev 978
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	struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
9		10
10	unsigned char SPI_BufferIndex;	11	unsigned char SPI_BufferIndex;
11	unsigned char SPI_RxBufferIndex;	12	unsigned char SPI_RxBufferIndex;
12		13
13	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)];	14	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)];
14	unsigned char *SPI_TX_Buffer;	15	unsigned char *SPI_TX_Buffer;
15		16
16	unsigned char SPITransferCompleted, SPI_ChkSum;	17	unsigned char SPITransferCompleted, SPI_ChkSum;
17	unsigned char SPI_RxDataValid;	18	unsigned char SPI_RxDataValid;
18		19
19	unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS};	20	unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS};
20	unsigned char SPI_CommandCounter = 0;	21	unsigned char SPI_CommandCounter = 0;
21		22
22	#ifdef USE_SPI_COMMUNICATION	23	#ifdef USE_SPI_COMMUNICATION
23		24
24	//------------------------------------------------------	25	//------------------------------------------------------
25	void SPI_MasterInit(void)	26	void SPI_MasterInit(void)
26	{	27	{
27	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input	28	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);	29	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);
29		30
30	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPR0)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64	31	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPR0)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
31	SPSR = 0;//(1<<SPI2X);	32	SPSR = 0;//(1<<SPI2X);
32		33
33	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);	34	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);
34	SPITransferCompleted = 1;	35	SPITransferCompleted = 1;
35		36
36	//SPDR = 0x00; // dummy write	37	//SPDR = 0x00; // dummy write
37		38
38	ToNaviCtrl.Sync1 = 0xAA;	39	ToNaviCtrl.Sync1 = 0xAA;
39	ToNaviCtrl.Sync2 = 0x83;	40	ToNaviCtrl.Sync2 = 0x83;
40		41
41	ToNaviCtrl.Command = SPI_CMD_USER;	42	ToNaviCtrl.Command = SPI_CMD_USER;
42	ToNaviCtrl.IntegralNick = 0;	43	ToNaviCtrl.IntegralNick = 0;
43	ToNaviCtrl.IntegralRoll = 0;	44	ToNaviCtrl.IntegralRoll = 0;
44	SPI_RxDataValid = 0;	45	SPI_RxDataValid = 0;
45	}	46	}
46		47
47	//------------------------------------------------------	48	//------------------------------------------------------
48	void SPI_StartTransmitPacket(void)	49	void SPI_StartTransmitPacket(void)
49	{	50	{
50	//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed	51	//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed
51	if (!SPITransferCompleted) return;	52	if (!SPITransferCompleted) return;
52	// _delay_us(30);	53	// _delay_us(30);
53		54
54	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave	55	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
55	SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;	56	SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
56		57
57	ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];	58	ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
58	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;	59	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
59		60
60	SPITransferCompleted = 0;	61	SPITransferCompleted = 0;
61	UpdateSPI_Buffer(); // update buffer	62	UpdateSPI_Buffer(); // update buffer
62		63
63	SPI_BufferIndex = 1;	64	SPI_BufferIndex = 1;
64	//ebugOut.Analog[16]++;	65	//ebugOut.Analog[16]++;
65	// -- Debug-Output ---	66	// -- Debug-Output ---
66	//----	67	//----
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	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;	71	ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
71	SPDR = ToNaviCtrl.Sync1; // Start transmission	72	SPDR = ToNaviCtrl.Sync1; // Start transmission
72	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave	73	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
73		74
74	}	75	}
75		76
76	//------------------------------------------------------	77	//------------------------------------------------------
77	//SIGNAL(SIG_SPI)	78	//SIGNAL(SIG_SPI)
78	void SPI_TransmitByte(void)	79	void SPI_TransmitByte(void)
79	{	80	{
80	static unsigned char SPI_RXState = 0;	81	static unsigned char SPI_RXState = 0;
81	unsigned char rxdata;	82	unsigned char rxdata;
82	static unsigned char rxchksum;	83	static unsigned char rxchksum;
83		84
84	if (SPITransferCompleted) return;	85	if (SPITransferCompleted) return;
85	if (!(SPSR & (1 << SPIF))) return;	86	if (!(SPSR & (1 << SPIF))) return;
86	SendSPI = 4;	87	SendSPI = 4;
87		88
88	// _delay_us(30);	89	// _delay_us(30);
89	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave	90	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
90		91
91	rxdata = SPDR;	92	rxdata = SPDR;
92	switch ( SPI_RXState)	93	switch ( SPI_RXState)
93	{	94	{
94	case 0:	95	case 0:
95		96
96	SPI_RxBufferIndex = 0;	97	SPI_RxBufferIndex = 0;
97	//DebugOut.Analog[17]++;	98	//DebugOut.Analog[17]++;
98	rxchksum = rxdata;	99	rxchksum = rxdata;
99	if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok	100	if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok
100		101
101	break;	102	break;
102		103
103	case 1:	104	case 1:
104	if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok	105	if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok
105	else SPI_RXState = 0;	106	else SPI_RXState = 0;
106	//DebugOut.Analog[18]++;	107	//DebugOut.Analog[18]++;
107	break;	108	break;
108		109
109	case 2:	110	case 2:
110	SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data	111	SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data
111	//DebugOut.Analog[19]++;	112	//DebugOut.Analog[19]++;
112	if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))	113	if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
113	{	114	{
114		115
115	if (rxdata == rxchksum)	116	if (rxdata == rxchksum)
116	{	117	{
117	unsigned char ptr = (unsigned char )&FromNaviCtrl;	118	unsigned char ptr = (unsigned char )&FromNaviCtrl;
118		119
119	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));	120	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));
120		121
121	SPI_RxDataValid = 1;	122	SPI_RxDataValid = 1;
122	}	123	}
123	else SPI_RxDataValid = 0;	124	else SPI_RxDataValid = 0;
124		125
125	SPI_RXState = 0;	126	SPI_RXState = 0;
126	}	127	}
127	else rxchksum += rxdata;	128	else rxchksum += rxdata;
128	break;	129	break;
129		130
130	}	131	}
131		132
132	if (SPI_BufferIndex < sizeof(ToNaviCtrl))	133	if (SPI_BufferIndex < sizeof(ToNaviCtrl))
133	{	134	{
134	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave	135	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");	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	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		139
139	SPDR = SPI_TX_Buffer[SPI_BufferIndex];	140	SPDR = SPI_TX_Buffer[SPI_BufferIndex];
140	ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];	141	ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
141	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave	142	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
142		143
143	}	144	}
144	else SPITransferCompleted = 1;	145	else SPITransferCompleted = 1;
145		146
146	SPI_BufferIndex++;	147	SPI_BufferIndex++;
147	}	148	}
148		149
149		150
150	//------------------------------------------------------	151	//------------------------------------------------------
151	void UpdateSPI_Buffer(void)	152	void UpdateSPI_Buffer(void)
152	{	153	{
153	static unsigned char i =0;	154	static unsigned char i =0;
154	signed int tmp;	155	signed int tmp;
155	cli();	156	cli();
156		157
157	ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108);	158	ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108);
158	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108);	159	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108);
159	ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;	160	ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
160	ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc);	161	ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc);
161	ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc);	162	ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc);
162	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;	163	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
163	// ToNaviCtrl.User8 = Parameter_UserParam8;	164	// ToNaviCtrl.User8 = Parameter_UserParam8;
164	// ToNaviCtrl.CalState = WinkelOut.CalcState;	165	// ToNaviCtrl.CalState = WinkelOut.CalcState;
165		166
166	switch(ToNaviCtrl.Command) //	167	switch(ToNaviCtrl.Command) //
167	{	168	{
168	case SPI_CMD_USER:	169	case SPI_CMD_USER:
169	ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;	170	ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
170	ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;	171	ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
171	ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;	172	ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
172	ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;	173	ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
173	ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;	174	ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
174	ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;	175	ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
175	ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;	176	ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
176	ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;	177	ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
177	ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;	178	ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;
178	MikroKopterFlags &= ~(FLAG_CALIBRATE \| FLAG_START);	179	MikroKopterFlags &= ~(FLAG_CALIBRATE \| FLAG_START);
179	ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;	180	ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;
180	ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung;	181	ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung;
181	ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);	182	ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
182	break;	183	break;
183		184
184	case SPI_CMD_PARAMETER1:	185	case SPI_CMD_PARAMETER1:
185	ToNaviCtrl.Param.Byte[0] = Parameter_NaviGpsModeControl; // Parameters for the Naviboard	186	ToNaviCtrl.Param.Byte[0] = Parameter_NaviGpsModeControl; // Parameters for the Naviboard
186	ToNaviCtrl.Param.Byte[1] = Parameter_NaviGpsGain;	187	ToNaviCtrl.Param.Byte[1] = Parameter_NaviGpsGain;
187	ToNaviCtrl.Param.Byte[2] = Parameter_NaviGpsP;	188	ToNaviCtrl.Param.Byte[2] = Parameter_NaviGpsP;
188	ToNaviCtrl.Param.Byte[3] = Parameter_NaviGpsI;	189	ToNaviCtrl.Param.Byte[3] = Parameter_NaviGpsI;
189	ToNaviCtrl.Param.Byte[4] = Parameter_NaviGpsD;	190	ToNaviCtrl.Param.Byte[4] = Parameter_NaviGpsD;
190	ToNaviCtrl.Param.Byte[5] = Parameter_NaviGpsACC;	191	ToNaviCtrl.Param.Byte[5] = Parameter_NaviGpsACC;
191	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;	192	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
192	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;	193	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
193	ToNaviCtrl.Param.Byte[8] = 15; // MaxRadius	194	ToNaviCtrl.Param.Byte[8] = 15; // MaxRadius
194	break;	195	break;
195		196
196	case SPI_CMD_STICK:	197	case SPI_CMD_STICK:
197	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;	198	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
198	ToNaviCtrl.Param.Byte[0] = (char) tmp;	199	ToNaviCtrl.Param.Byte[0] = (char) tmp;
199	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;	200	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
200	ToNaviCtrl.Param.Byte[1] = (char) tmp;	201	ToNaviCtrl.Param.Byte[1] = (char) tmp;
201	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;	202	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
202	ToNaviCtrl.Param.Byte[2] = (char) tmp;	203	ToNaviCtrl.Param.Byte[2] = (char) tmp;
203	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;	204	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
204	ToNaviCtrl.Param.Byte[3] = (char) tmp;	205	ToNaviCtrl.Param.Byte[3] = (char) tmp;
205	ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;	206	ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;
206	ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;	207	ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;
207	ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;	208	ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
208	ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;	209	ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
209	ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;	210	ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
210	break;	211	break;
211	case SPI_CMD_CAL_COMPASS:	212	case SPI_CMD_CAL_COMPASS:
212	if(WinkelOut.CalcState > 5)	213	if(WinkelOut.CalcState > 5)
213	{	214	{
214	WinkelOut.CalcState = 0;	215	WinkelOut.CalcState = 0;
215	ToNaviCtrl.Param.Byte[0] = 5;	216	ToNaviCtrl.Param.Byte[0] = 5;
216	}	217	}
217	else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;	218	else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
218	break;	219	break;
219	}	220	}
220		221
221	sei();	222	sei();
222		223
223	if (SPI_RxDataValid)	224	if (SPI_RxDataValid)
224	{	225	{
225	if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))	226	if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
226	{	227	{
227	GPS_Nick = FromNaviCtrl.GPS_Nick;	228	GPS_Nick = FromNaviCtrl.GPS_Nick;
228	GPS_Roll = FromNaviCtrl.GPS_Roll;	229	GPS_Roll = FromNaviCtrl.GPS_Roll;
229	}	230	}
230	if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;	231	if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;
231	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	232	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
232		233
233	if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;	234	if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
234		235
235	switch (FromNaviCtrl.Command)	236	switch (FromNaviCtrl.Command)
236	{	237	{
237	case SPI_CMD_OSD_DATA:	238	case SPI_CMD_OSD_DATA:
238	// ToFlightCtrl.Param.Byte[0] = OsdBar;	239	FromNaviCtrl_Value.OsdBar = FromNaviCtrl.Param.Byte[0];
239	// ToFlightCtrl.Param.Int[1] = Distance;	240	FromNaviCtrl_Value.Distance = FromNaviCtrl.Param.Int[1];
240	break;	241	break;
241		242
242	case SPI_CMD_GPS_POS:	243	case SPI_CMD_GPS_POS:
243	// ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude;	244	// ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude;
244	// ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude;	245	// ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude;
245	break;	246	break;
246		247
247	case SPI_CMD_GPS_TARGET:	248	case SPI_CMD_GPS_TARGET:
248	// ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude;	249	// ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude;
249	// ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude;	250	// ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude;
250	break;	251	break;
251		252
252	default:	253	default:
253	break;	254	break;
254	}	255	}
255	}	256	}
256	else	257	else
257	{	258	{
258	// KompassValue = 0;	259	// KompassValue = 0;
259	// KompassRichtung = 0;	260	// KompassRichtung = 0;
260		261
261	GPS_Nick = 0;	262	GPS_Nick = 0;
262	GPS_Roll = 0;	263	GPS_Roll = 0;
263	}	264	}
264	}	265	}
265		266
266	#endif	267	#endif
267		268
268		269
269		270

Subversion Repositories FlightCtrl

(root)/branches/V0.86d_ACC-HH_HR_MartinR/spi.c @ 2283 - Rev 921 → 978