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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_Value ToNaviCtrl_Value; |
7 | struct str_ToNaviCtrl_Value ToNaviCtrl_Value; |
8 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
8 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
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_Value)]; |
13 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl_Value)]; |
14 | unsigned char *SPI_TX_Buffer, *ToNaviCtrl_Chksum; |
14 | unsigned char *SPI_TX_Buffer, *ToNaviCtrl_Chksum; |
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 | #ifdef USE_SPI_COMMUNICATION |
19 | #ifdef USE_SPI_COMMUNICATION |
20 | 20 | ||
21 | //------------------------------------------------------ |
21 | //------------------------------------------------------ |
22 | void SPI_MasterInit(void) |
22 | void SPI_MasterInit(void) |
23 | { |
23 | { |
24 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
24 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
25 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
25 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
26 | 26 | ||
27 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
27 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
28 | SPSR = 0;//(1<<SPI2X); |
28 | SPSR = 0;//(1<<SPI2X); |
29 | 29 | ||
30 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
30 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
31 | SPITransferCompleted = 1; |
31 | SPITransferCompleted = 1; |
32 | 32 | ||
33 | //SPDR = 0x00; // dummy write |
33 | //SPDR = 0x00; // dummy write |
34 | 34 | ||
35 | ToNaviCtrl_Value.Sync1 = 0xAA; |
35 | ToNaviCtrl_Value.Sync1 = 0xAA; |
36 | ToNaviCtrl_Value.Sync2 = 0x83; |
36 | ToNaviCtrl_Value.Sync2 = 0x83; |
37 | 37 | ||
38 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
38 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
39 | ToNaviCtrl_Value.IntegralNick = 12345; |
39 | ToNaviCtrl_Value.IntegralNick = 12345; |
40 | ToNaviCtrl_Value.IntegralRoll = 56789; |
40 | ToNaviCtrl_Value.IntegralRoll = 56789; |
41 | ToNaviCtrl_Value.StickNick = 100; |
41 | ToNaviCtrl_Value.StickNick = 100; |
42 | ToNaviCtrl_Value.StickRoll = 150;//(char) StickRoll; |
42 | ToNaviCtrl_Value.StickRoll = 150;//(char) StickRoll; |
43 | ToNaviCtrl_Value.StickGier = 200;//(char) StickGier; |
43 | ToNaviCtrl_Value.StickGier = 200;//(char) StickGier; |
44 | 44 | ||
45 | SPI_RxDataValid = 0; |
45 | SPI_RxDataValid = 0; |
46 | } |
46 | } |
47 | 47 | ||
48 | //------------------------------------------------------ |
48 | //------------------------------------------------------ |
49 | void SPI_StartTransmitPacket(unsigned char command) |
49 | void SPI_StartTransmitPacket(unsigned char command) |
50 | { |
50 | { |
51 | //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 |
52 | if (!SPITransferCompleted) return; |
52 | if (!SPITransferCompleted) return; |
53 | // _delay_us(30); |
53 | // _delay_us(30); |
54 | 54 | ||
55 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
55 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
56 | 56 | ||
57 | switch(command) |
57 | switch(command) |
58 | { |
58 | { |
59 | case SPI_CMD_VERSION: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Version; |
59 | case SPI_CMD_VERSION: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Version; |
60 | ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Version.Chksum; |
60 | ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Version.Chksum; |
61 | break; |
61 | break; |
62 | 62 | ||
63 | case SPI_CMD_VALUE: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Value; |
63 | case SPI_CMD_VALUE: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Value; |
64 | ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Value.Chksum; |
64 | ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Value.Chksum; |
65 | break; |
65 | break; |
66 | 66 | ||
67 | } |
67 | } |
68 | 68 | ||
69 | 69 | ||
70 | SPITransferCompleted = 0; |
70 | SPITransferCompleted = 0; |
71 | UpdateSPI_Buffer(); // update buffer |
71 | UpdateSPI_Buffer(); // update buffer |
72 | SPI_BufferIndex = 1; |
72 | SPI_BufferIndex = 1; |
73 | //ebugOut.Analog[16]++; |
73 | //ebugOut.Analog[16]++; |
74 | // -- Debug-Output --- |
74 | // -- Debug-Output --- |
75 | //---- |
75 | //---- |
76 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
76 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
77 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
77 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
78 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
78 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
79 | SPDR = ToNaviCtrl_Value.Sync1; // Start transmission |
79 | SPDR = ToNaviCtrl_Value.Sync1; // Start transmission |
80 | *ToNaviCtrl_Chksum = ToNaviCtrl_Value.Sync1; |
80 | *ToNaviCtrl_Chksum = ToNaviCtrl_Value.Sync1; |
81 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
81 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
82 | 82 | ||
83 | } |
83 | } |
84 | 84 | ||
85 | //------------------------------------------------------ |
85 | //------------------------------------------------------ |
86 | //SIGNAL(SIG_SPI) |
86 | //SIGNAL(SIG_SPI) |
87 | void SPI_TransmitByte(void) |
87 | void SPI_TransmitByte(void) |
88 | { |
88 | { |
89 | static unsigned char SPI_RXState = 0; |
89 | static unsigned char SPI_RXState = 0; |
90 | unsigned char rxdata; |
90 | unsigned char rxdata; |
91 | static unsigned char rxchksum; |
91 | static unsigned char rxchksum; |
92 | 92 | ||
93 | if (SPITransferCompleted) return; |
93 | if (SPITransferCompleted) return; |
94 | if (!(SPSR & (1 << SPIF))) return; |
94 | if (!(SPSR & (1 << SPIF))) return; |
95 | SendSPI = 4; |
95 | SendSPI = 4; |
96 | 96 | ||
97 | // _delay_us(30); |
97 | // _delay_us(30); |
98 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
98 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
99 | 99 | ||
100 | rxdata = SPDR; |
100 | rxdata = SPDR; |
101 | switch ( SPI_RXState) |
101 | switch ( SPI_RXState) |
102 | { |
102 | { |
103 | case 0: |
103 | case 0: |
104 | 104 | ||
105 | SPI_RxBufferIndex = 0; |
105 | SPI_RxBufferIndex = 0; |
106 | //DebugOut.Analog[17]++; |
106 | //DebugOut.Analog[17]++; |
107 | rxchksum = rxdata; |
107 | rxchksum = rxdata; |
108 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
108 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
109 | 109 | ||
110 | break; |
110 | break; |
111 | 111 | ||
112 | case 1: |
112 | case 1: |
113 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
113 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
114 | else SPI_RXState = 0; |
114 | else SPI_RXState = 0; |
115 | //DebugOut.Analog[18]++; |
115 | //DebugOut.Analog[18]++; |
116 | break; |
116 | break; |
117 | 117 | ||
118 | case 2: |
118 | case 2: |
119 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
119 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
120 | //DebugOut.Analog[19]++; |
120 | //DebugOut.Analog[19]++; |
121 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl_Value)) |
121 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl_Value)) |
122 | { |
122 | { |
123 | 123 | ||
124 | if (rxdata == rxchksum) |
124 | if (rxdata == rxchksum) |
125 | { |
125 | { |
126 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl_Value; |
126 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl_Value; |
127 | 127 | ||
128 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
128 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
129 | 129 | ||
130 | SPI_RxDataValid = 1; |
130 | SPI_RxDataValid = 1; |
131 | } |
131 | } |
132 | else SPI_RxDataValid = 0; |
132 | else SPI_RxDataValid = 0; |
133 | 133 | ||
134 | SPI_RXState = 0; |
134 | SPI_RXState = 0; |
135 | } |
135 | } |
136 | else rxchksum += rxdata; |
136 | else rxchksum += rxdata; |
137 | break; |
137 | break; |
138 | 138 | ||
139 | } |
139 | } |
140 | 140 | ||
141 | if (SPI_BufferIndex < sizeof(ToNaviCtrl_Value)) |
141 | if (SPI_BufferIndex < sizeof(ToNaviCtrl_Value)) |
142 | { |
142 | { |
143 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
143 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
144 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
144 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
145 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
145 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
146 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
146 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
147 | 147 | ||
148 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
148 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
149 | *ToNaviCtrl_Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
149 | *ToNaviCtrl_Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
150 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
150 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
151 | 151 | ||
152 | } |
152 | } |
153 | else SPITransferCompleted = 1; |
153 | else SPITransferCompleted = 1; |
154 | 154 | ||
155 | SPI_BufferIndex++; |
155 | SPI_BufferIndex++; |
156 | } |
156 | } |
157 | 157 | ||
158 | 158 | ||
159 | //------------------------------------------------------ |
159 | //------------------------------------------------------ |
160 | void UpdateSPI_Buffer(void) |
160 | void UpdateSPI_Buffer(void) |
161 | { |
161 | { |
162 | static unsigned char i =0; |
162 | static unsigned char i =0; |
163 | cli(); |
163 | cli(); |
164 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
164 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
165 | ToNaviCtrl_Value.IntegralNick = (int) ( IntegralNick / 1024); |
165 | ToNaviCtrl_Value.IntegralNick = (int) ( IntegralNick / 1024); |
166 | ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024); |
166 | ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024); |
167 | ToNaviCtrl_Value.StickNick = 4; |
167 | ToNaviCtrl_Value.StickNick = (char) PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; |
168 | ToNaviCtrl_Value.StickRoll = 5;//(char) StickRoll; |
168 | ToNaviCtrl_Value.StickRoll = (char) PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; |
169 | ToNaviCtrl_Value.StickGier = 6;//(char) StickGier; |
169 | ToNaviCtrl_Value.StickGier = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
170 | ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
170 | ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
171 | ToNaviCtrl_Value.User1 = Parameter_UserParam1; |
171 | ToNaviCtrl_Value.User1 = Parameter_UserParam1; |
172 | ToNaviCtrl_Value.User2 = Parameter_UserParam2; |
172 | ToNaviCtrl_Value.User2 = Parameter_UserParam2; |
173 | ToNaviCtrl_Value.User3 = Parameter_UserParam3; |
173 | ToNaviCtrl_Value.User3 = Parameter_UserParam3; |
174 | ToNaviCtrl_Value.User4 = Parameter_UserParam4; |
174 | ToNaviCtrl_Value.User4 = Parameter_UserParam4; |
175 | ToNaviCtrl_Value.User5 = Parameter_UserParam5; |
175 | ToNaviCtrl_Value.User5 = Parameter_UserParam5; |
176 | ToNaviCtrl_Value.User6 = Parameter_UserParam6; |
176 | ToNaviCtrl_Value.User6 = Parameter_UserParam6; |
177 | ToNaviCtrl_Value.User7 = Parameter_UserParam7; |
177 | ToNaviCtrl_Value.User7 = Parameter_UserParam7; |
178 | ToNaviCtrl_Value.User8 = Parameter_UserParam8; |
178 | ToNaviCtrl_Value.User8 = Parameter_UserParam8; |
179 | sei(); |
179 | sei(); |
180 | 180 | ||
181 | if (SPI_RxDataValid) |
181 | if (SPI_RxDataValid) |
182 | { |
182 | { |
183 | GPS_Nick = FromNaviCtrl_Value.GPS_Nick; |
183 | GPS_Nick = FromNaviCtrl_Value.GPS_Nick; |
184 | GPS_Roll = FromNaviCtrl_Value.GPS_Roll; |
184 | GPS_Roll = FromNaviCtrl_Value.GPS_Roll; |
185 | KompassValue = FromNaviCtrl_Value.CompassValue; |
185 | KompassValue = FromNaviCtrl_Value.CompassValue; |
186 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
186 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
187 | 187 | ||
188 | if (FromNaviCtrl_Value.BeepTime > beeptime) beeptime = FromNaviCtrl_Value.BeepTime; |
188 | if (FromNaviCtrl_Value.BeepTime > beeptime) beeptime = FromNaviCtrl_Value.BeepTime; |
189 | } |
189 | } |
190 | else |
190 | else |
191 | { |
191 | { |
192 | KompassValue = 0; |
192 | KompassValue = 0; |
193 | KompassRichtung = 0; |
193 | KompassRichtung = 0; |
194 | 194 | ||
195 | GPS_Nick = 0; |
195 | GPS_Nick = 0; |
196 | GPS_Roll = 0; |
196 | GPS_Roll = 0; |
197 | } |
197 | } |
198 | } |
198 | } |
199 | 199 | ||
200 | #endif |
200 | #endif |
201 | 201 | ||
202 | 202 | ||
203 | 203 |