WebSVN - FlightCtrl - Diff - Rev 1011 and 1012 - /branches/salvo_gps/Basis


// ######################## 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)];
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:
//                                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 1011	Rev 1012
1	// ######################## SPI - FlightCtrl ###################	1	// ######################## SPI - FlightCtrl ###################
2	#include "main.h"	2	#include "main.h"
-		3
3		4
4	//struct str_ToNaviCtrl_Version ToNaviCtrl_Version;	5	//struct str_ToNaviCtrl_Version ToNaviCtrl_Version;
5	//struct str_FromNaviCtrl_Version FromNaviCtrl_Version;	6	//struct str_FromNaviCtrl_Version FromNaviCtrl_Version;
6	struct str_ToNaviCtrl ToNaviCtrl;	7	struct str_ToNaviCtrl ToNaviCtrl;
7	struct str_FromNaviCtrl FromNaviCtrl;	8	struct str_FromNaviCtrl FromNaviCtrl;
8		9
9	unsigned char SPI_BufferIndex;	10	unsigned char SPI_BufferIndex;
10	unsigned char SPI_RxBufferIndex;	11	unsigned char SPI_RxBufferIndex;
11		12
12	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)];	13	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)];
13	unsigned char *SPI_TX_Buffer;	14	unsigned char *SPI_TX_Buffer;
14		15
15	unsigned char SPITransferCompleted, SPI_ChkSum;	16	unsigned char SPITransferCompleted, SPI_ChkSum;
16	unsigned char SPI_RxDataValid;	17	unsigned char SPI_RxDataValid;
17		18
18	unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS};	19	unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS};
19	unsigned char SPI_CommandCounter = 0;	20	unsigned char SPI_CommandCounter = 0;
20		21
21	#ifdef USE_SPI_COMMUNICATION	22	#ifdef USE_SPI_COMMUNICATION
22		23
23	//------------------------------------------------------	24	//------------------------------------------------------
24	void SPI_MasterInit(void)	25	void SPI_MasterInit(void)
25	{	26	{
26	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
27	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);	28	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);
28		29
29	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
30	SPSR = 0;//(1<<SPI2X);	31	SPSR = 0;//(1<<SPI2X);
31		32
32	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);	33	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);
33	SPITransferCompleted = 1;	34	SPITransferCompleted = 1;
34		35
35	//SPDR = 0x00; // dummy write	36	//SPDR = 0x00; // dummy write
36		37
37	ToNaviCtrl.Sync1 = 0xAA;	38	ToNaviCtrl.Sync1 = 0xAA;
38	ToNaviCtrl.Sync2 = 0x83;	39	ToNaviCtrl.Sync2 = 0x83;
39		40
40	ToNaviCtrl.Command = SPI_CMD_USER;	41	ToNaviCtrl.Command = SPI_CMD_USER;
41	ToNaviCtrl.IntegralNick = 0;	42	ToNaviCtrl.IntegralNick = 0;
42	ToNaviCtrl.IntegralRoll = 0;	43	ToNaviCtrl.IntegralRoll = 0;
43	SPI_RxDataValid = 0;	44	SPI_RxDataValid = 0;
44	}	45	}
45		46
46	//------------------------------------------------------	47	//------------------------------------------------------
47	void SPI_StartTransmitPacket(void)	48	void SPI_StartTransmitPacket(void)
48	{	49	{
49	//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
50	if (!SPITransferCompleted) return;	51	if (!SPITransferCompleted) return;
51	// _delay_us(30);	52	// _delay_us(30);
52		53
53	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave	54	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
54	SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;	55	SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
55		56
56	ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];	57	ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
57	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;	58	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
58		59
59	SPITransferCompleted = 0;	60	SPITransferCompleted = 0;
60	UpdateSPI_Buffer(); // update buffer	61	UpdateSPI_Buffer(); // update buffer
61		62
62	SPI_BufferIndex = 1;	63	SPI_BufferIndex = 1;
63	//ebugOut.Analog[16]++;	64	//ebugOut.Analog[16]++;
64	// -- Debug-Output ---	65	// -- Debug-Output ---
65	//----	66	//----
66	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");
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	ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;	70	ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
70	SPDR = ToNaviCtrl.Sync1; // Start transmission	71	SPDR = ToNaviCtrl.Sync1; // Start transmission
71	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave	72	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
72		73
73	}	74	}
74		75
75	//------------------------------------------------------	76	//------------------------------------------------------
76	//SIGNAL(SIG_SPI)	77	//SIGNAL(SIG_SPI)
77	void SPI_TransmitByte(void)	78	void SPI_TransmitByte(void)
78	{	79	{
79	static unsigned char SPI_RXState = 0;	80	static unsigned char SPI_RXState = 0;
80	unsigned char rxdata;	81	unsigned char rxdata;
81	static unsigned char rxchksum;	82	static unsigned char rxchksum;
82		83
83	if (SPITransferCompleted) return;	84	if (SPITransferCompleted) return;
84	if (!(SPSR & (1 << SPIF))) return;	85	if (!(SPSR & (1 << SPIF))) return;
85	SendSPI = 4;	86	SendSPI = 4;
86		87
87	// _delay_us(30);	88	// _delay_us(30);
88	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave	89	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
89		90
90	rxdata = SPDR;	91	rxdata = SPDR;
91	switch ( SPI_RXState)	92	switch ( SPI_RXState)
92	{	93	{
93	case 0:	94	case 0:
94		95
95	SPI_RxBufferIndex = 0;	96	SPI_RxBufferIndex = 0;
96	//DebugOut.Analog[17]++;	97	//DebugOut.Analog[17]++;
97	rxchksum = rxdata;	98	rxchksum = rxdata;
98	if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok	99	if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok
99		100
100	break;	101	break;
101		102
102	case 1:	103	case 1:
103	if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok	104	if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok
104	else SPI_RXState = 0;	105	else SPI_RXState = 0;
105	//DebugOut.Analog[18]++;	106	//DebugOut.Analog[18]++;
106	break;	107	break;
107		108
108	case 2:	109	case 2:
109	SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data	110	SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data
110	//DebugOut.Analog[19]++;	111	//DebugOut.Analog[19]++;
111	if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))	112	if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
112	{	113	{
113		114
114	if (rxdata == rxchksum)	115	if (rxdata == rxchksum)
115	{	116	{
116	unsigned char ptr = (unsigned char )&FromNaviCtrl;	117	unsigned char ptr = (unsigned char )&FromNaviCtrl;
117		118
118	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));	119	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));
119		120
120	SPI_RxDataValid = 1;	121	SPI_RxDataValid = 1;
121	}	122	}
122	else SPI_RxDataValid = 0;	123	else SPI_RxDataValid = 0;
123		124
124	SPI_RXState = 0;	125	SPI_RXState = 0;
125	}	126	}
126	else rxchksum += rxdata;	127	else rxchksum += rxdata;
127	break;	128	break;
128		129
129	}	130	}
130		131
131	if (SPI_BufferIndex < sizeof(ToNaviCtrl))	132	if (SPI_BufferIndex < sizeof(ToNaviCtrl))
132	{	133	{
133	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave	134	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
134	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");
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		138
138	SPDR = SPI_TX_Buffer[SPI_BufferIndex];	139	SPDR = SPI_TX_Buffer[SPI_BufferIndex];
139	ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];	140	ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
140	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave	141	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
141		142
142	}	143	}
143	else SPITransferCompleted = 1;	144	else SPITransferCompleted = 1;
144		145
145	SPI_BufferIndex++;	146	SPI_BufferIndex++;
146	}	147	}
147		148
148		149
149	//------------------------------------------------------	150	//------------------------------------------------------
150	void UpdateSPI_Buffer(void)	151	void UpdateSPI_Buffer(void)
151	{	152	{
152	static unsigned char i =0;	153	static unsigned char i =0;
153	signed int tmp;	154	signed int tmp;
154	cli();	155	cli();
155		156
156	ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108);	157	ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108);
157	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108);	158	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108);
158	ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;	159	ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
159	ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc);	160	ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc);
160	ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc);	161	ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc);
161	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;	162	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
162	// ToNaviCtrl.User8 = Parameter_UserParam8;	163	// ToNaviCtrl.User8 = Parameter_UserParam8;
163	// ToNaviCtrl.CalState = WinkelOut.CalcState;	164	// ToNaviCtrl.CalState = WinkelOut.CalcState;
164		165
165	switch(ToNaviCtrl.Command) //	166	switch(ToNaviCtrl.Command) //
166	{	167	{
167	case SPI_CMD_USER:	168	case SPI_CMD_USER:
168	ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;	169	ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
169	ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;	170	ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
170	ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;	171	ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
171	ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;	172	ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
172	ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;	173	ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
173	ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;	174	ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
174	ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;	175	ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
175	ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;	176	ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
176	ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;	177	ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;
177	MikroKopterFlags &= ~(FLAG_CALIBRATE \| FLAG_START);	178	MikroKopterFlags &= ~(FLAG_CALIBRATE \| FLAG_START);
178	ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;	179	ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;
179	ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung;	180	ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung;
180	ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);	181	ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
181	break;	182	break;
182		183
183	case SPI_CMD_PARAMETER1:	184	case SPI_CMD_PARAMETER1:
184	ToNaviCtrl.Param.Byte[0] = Parameter_NaviGpsModeControl; // Parameters for the Naviboard	185	ToNaviCtrl.Param.Byte[0] = Parameter_NaviGpsModeControl; // Parameters for the Naviboard
185	ToNaviCtrl.Param.Byte[1] = Parameter_NaviGpsGain;	186	ToNaviCtrl.Param.Byte[1] = Parameter_NaviGpsGain;
186	ToNaviCtrl.Param.Byte[2] = Parameter_NaviGpsP;	187	ToNaviCtrl.Param.Byte[2] = Parameter_NaviGpsP;
187	ToNaviCtrl.Param.Byte[3] = Parameter_NaviGpsI;	188	ToNaviCtrl.Param.Byte[3] = Parameter_NaviGpsI;
188	ToNaviCtrl.Param.Byte[4] = Parameter_NaviGpsD;	189	ToNaviCtrl.Param.Byte[4] = Parameter_NaviGpsD;
189	ToNaviCtrl.Param.Byte[5] = Parameter_NaviGpsACC;	190	ToNaviCtrl.Param.Byte[5] = Parameter_NaviGpsACC;
190	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;	191	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
191	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;	192	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
192	ToNaviCtrl.Param.Byte[8] = 15; // MaxRadius	193	ToNaviCtrl.Param.Byte[8] = 15; // MaxRadius
193	break;	194	break;
194		195
195	case SPI_CMD_STICK:	196	case SPI_CMD_STICK:
196	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;	197	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
197	ToNaviCtrl.Param.Byte[0] = (char) tmp;	198	ToNaviCtrl.Param.Byte[0] = (char) tmp;
198	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;	199	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
199	ToNaviCtrl.Param.Byte[1] = (char) tmp;	200	ToNaviCtrl.Param.Byte[1] = (char) tmp;
200	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;	201	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
201	ToNaviCtrl.Param.Byte[2] = (char) tmp;	202	ToNaviCtrl.Param.Byte[2] = (char) tmp;
202	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;	203	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
203	ToNaviCtrl.Param.Byte[3] = (char) tmp;	204	ToNaviCtrl.Param.Byte[3] = (char) tmp;
204	ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;	205	ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;
205	ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;	206	ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;
206	ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;	207	ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
207	ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;	208	ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
208	ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;	209	ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
209	break;	210	break;
210	case SPI_CMD_CAL_COMPASS:	211	case SPI_CMD_CAL_COMPASS:
211	if(WinkelOut.CalcState > 5)	212	if(WinkelOut.CalcState > 5)
212	{	213	{
213	WinkelOut.CalcState = 0;	214	WinkelOut.CalcState = 0;
214	ToNaviCtrl.Param.Byte[0] = 5;	215	ToNaviCtrl.Param.Byte[0] = 5;
215	}	216	}
216	else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;	217	else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
217	break;	218	break;
218	}	219	}
219		220
220	sei();	221	sei();
221		222
222	if (SPI_RxDataValid)	223	if (SPI_RxDataValid)
223	{	224	{
224	if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))	225	if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
225	{	226	{
226	GPS_Nick = FromNaviCtrl.GPS_Nick;	227	GPS_Nick = FromNaviCtrl.GPS_Nick;
227	GPS_Roll = FromNaviCtrl.GPS_Roll;	228	GPS_Roll = FromNaviCtrl.GPS_Roll;
228	}	229	}
229	if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;	230	if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;
230	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	231	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
231		232
232	if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;	233	if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
233		234
234	switch (FromNaviCtrl.Command)	235	switch (FromNaviCtrl.Command)
235	{	236	{
236	case SPI_CMD_OSD_DATA:	237	case SPI_CMD_OSD_DATA:
237	// ToFlightCtrl.Param.Byte[0] = OsdBar;	238	// ToFlightCtrl.Param.Byte[0] = OsdBar;
238	// ToFlightCtrl.Param.Int[1] = Distance;	239	// ToFlightCtrl.Param.Int[1] = Distance;
239	break;	240	break;
240		241
241	case SPI_CMD_GPS_POS:	242	case SPI_CMD_GPS_POS:
242	// ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude;	243	// ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude;
243	// ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude;	244	// ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude;
244	break;	245	break;
245		246
246	case SPI_CMD_GPS_TARGET:	247	case SPI_CMD_GPS_TARGET:
247	// ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude;	248	// ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude;
248	// ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude;	249	// ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude;
249	break;	250	break;
250		251
251	default:	252	default:
252	break;	253	break;
253	}	254	}
254	}	255	}
255	else	256	else
256	{	257	{
257	// KompassValue = 0;	258	// KompassValue = 0;
258	// KompassRichtung = 0;	259	// KompassRichtung = 0;
259		260
260	GPS_Nick = 0;	261	GPS_Nick = 0;
261	GPS_Roll = 0;	262	GPS_Roll = 0;
262	}	263	}
263	}	264	}
264		265
265	#endif	266	#endif
266		267
267		268
268		269

Subversion Repositories FlightCtrl

(root)/branches/salvo_gps/Basis_v0070d/trunk/spi.c @ 1725 - Rev 1011 → 1012