WebSVN - FlightCtrl - Diff - Rev 819 and 823

 // ######################## SPI - FlightCtrl ###################
 #include "main.h"
-struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
+//struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
-struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
+//struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
-struct str_ToNaviCtrl_Value   ToNaviCtrl_Value;
+struct str_ToNaviCtrl   ToNaviCtrl;
-struct str_FromNaviCtrl_Value   FromNaviCtrl_Value;
+struct str_FromNaviCtrl   FromNaviCtrl;
 unsigned char              SPI_BufferIndex;
 unsigned char              SPI_RxBufferIndex;
-volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl_Value) + 8];
+volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl) + 8];
-unsigned char *SPI_TX_Buffer, *ToNaviCtrl_Chksum;
+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_Value.Sync1 = 0xAA;
+  ToNaviCtrl.Sync1 = 0xAA;
-  ToNaviCtrl_Value.Sync2 = 0x83;
+  ToNaviCtrl.Sync2 = 0x83;
-  ToNaviCtrl_Value.Command = SPI_CMD_VALUE;
+  ToNaviCtrl.Command = SPI_CMD_USER;
-  ToNaviCtrl_Value.IntegralNick = 0;
-  ToNaviCtrl_Value.IntegralRoll = 0;
-  ToNaviCtrl_Value.StickNick = 0;
-  ToNaviCtrl_Value.StickRoll = 0;//(char) StickRoll;
-  ToNaviCtrl_Value.StickGier = 0;//(char) StickGier;
+  ToNaviCtrl.IntegralNick = 0;
-  ToNaviCtrl_Value.CalState = 0;
+  ToNaviCtrl.IntegralRoll = 0;
   SPI_RxDataValid = 0;
+}
 //------------------------------------------------------
-void SPI_StartTransmitPacket(unsigned char command)
+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;
-   switch(command)
-   {
-     case SPI_CMD_VERSION: SPI_TX_Buffer  = (unsigned char *) &ToNaviCtrl_Version;
-                                                   ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Version.Chksum;
-            break;
+   ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
-         case SPI_CMD_VALUE: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Value;
-                             ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Value.Chksum;
-            break;
-   }
    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_Value.Sync1;                  // Start transmission
+   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
-   *ToNaviCtrl_Chksum = ToNaviCtrl_Value.Sync1;
 //     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_Value))
+           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
+                   {
                 if (rxdata == rxchksum)
+                        {
-                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl_Value;
+                  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_Value))
+   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];
+           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;
   cli();
-  ToNaviCtrl_Value.Command = SPI_CMD_VALUE;
-  ToNaviCtrl_Value.IntegralNick = (int) (IntegralNick / 1024);
+  ToNaviCtrl.IntegralNick = (int) (IntegralNick / 1024);
-  ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024);
+  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 1024);
-  ToNaviCtrl_Value.StickNick = (char) PPM_in[EE_Parameter.Kanalbelegung[K_NICK]];
-  ToNaviCtrl_Value.StickRoll = (char) PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]];
-  ToNaviCtrl_Value.StickGier = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
-  ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
+  ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
-  ToNaviCtrl_Value.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc);
+  ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc);
-  ToNaviCtrl_Value.AccRoll = (int) ACC_AMPLIFY * (Mittelwert_AccRoll / NaviCntAcc);
+  ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (Mittelwert_AccRoll / NaviCntAcc);
   NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
-  ToNaviCtrl_Value.User1 = Parameter_UserParam1;
+//  ToNaviCtrl.User8 = Parameter_UserParam8;
+//  ToNaviCtrl.CalState = WinkelOut.CalcState;
+   switch(ToNaviCtrl.Command)  //
+   {
+         case SPI_CMD_USER:
-  ToNaviCtrl_Value.User2 = Parameter_UserParam2;
+                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
-  ToNaviCtrl_Value.User3 = Parameter_UserParam3;
+                                ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
-  ToNaviCtrl_Value.User4 = Parameter_UserParam4;
+                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
-  ToNaviCtrl_Value.User5 = Parameter_UserParam5;
+                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
-  ToNaviCtrl_Value.User6 = Parameter_UserParam6;
+                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
-  ToNaviCtrl_Value.User7 = Parameter_UserParam7;
+                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
-//  ToNaviCtrl_Value.User8 = Parameter_UserParam8;
+                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
+            break;
+         case SPI_CMD_STICK:
+                                ToNaviCtrl.Param.Byte[0] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];
+                                ToNaviCtrl.Param.Byte[1] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
+                                ToNaviCtrl.Param.Byte[2] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]];
+                    ToNaviCtrl.Param.Byte[3] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_NICK]];
+                                ToNaviCtrl.Param.Byte[4] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]];
+                                ToNaviCtrl.Param.Byte[5] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]];
+                                ToNaviCtrl.Param.Byte[6] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]];
+                    ToNaviCtrl.Param.Byte[7] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]];
+            break;
+         case SPI_CMD_CAL_COMPASS:
-  ToNaviCtrl_Value.CalState = WinkelOut.CalcState;
+                                ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
+            break;
+   }
   sei();
   if (SPI_RxDataValid)
   {
-    GPS_Nick = FromNaviCtrl_Value.GPS_Nick;
+    GPS_Nick = FromNaviCtrl.GPS_Nick;
-    GPS_Roll = FromNaviCtrl_Value.GPS_Roll;
+    GPS_Roll = FromNaviCtrl.GPS_Roll;
-    KompassValue = FromNaviCtrl_Value.CompassValue;
+    KompassValue = FromNaviCtrl.CompassValue;
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
+    if (FromNaviCtrl.BeepTime > beeptime) 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;
     if (FromNaviCtrl_Value.BeepTime > beeptime) beeptime = FromNaviCtrl_Value.BeepTime;
+  }
   else
+  {
 //    KompassValue = 0;
 //    KompassRichtung = 0;
         GPS_Nick = 0;
     GPS_Roll = 0;
+  }
+}
 #endif

Subversion Repositories FlightCtrl

(root)/tags/V0.80e/spi.c @ 1951 - Rev 819 → 823