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| Rev 691 | Rev 708 | ||
|---|---|---|---|
| 1 | // ######################## SPI - FlightCtrl ################### |
1 | // ######################## SPI - FlightCtrl ################### |
| 2 | #include "main.h" |
2 | #include "main.h" |
| 3 | 3 | ||
| - | 4 | ||
| - | 5 | struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
|
| 4 | 6 | struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
|
| 5 | struct str_ToNaviCtrl ToNaviCtrl; |
7 | struct str_ToNaviCtrl_Value ToNaviCtrl_Value; |
| - | 8 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
|
| 6 | struct str_FromNaviCtrl FromNaviCtrl; |
9 | |
| - | 10 | unsigned char SPI_BufferIndex; |
|
| - | 11 | unsigned char SPI_RxBufferIndex; |
|
| 7 | unsigned char SPI_BufferIndex; |
12 | |
| 8 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
13 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl_Value)]; |
| 9 | unsigned char *Ptr_buffer = (unsigned char *) &ToNaviCtrl; |
14 | unsigned char *SPI_TX_Buffer, *ToNaviCtrl_Chksum; |
| 10 | 15 | ||
| 11 | unsigned char SPITransferCompleted, SPI_ChkSum; |
16 | unsigned char SPITransferCompleted, SPI_ChkSum; |
| 12 | #ifdef USE_SPI_COMMUNICATION |
17 | #ifdef USE_SPI_COMMUNICATION |
| 13 | 18 | ||
| 14 | //------------------------------------------------------ |
19 | //------------------------------------------------------ |
| 15 | void SPI_MasterInit(void) |
20 | void SPI_MasterInit(void) |
| 16 | { |
21 | { |
| 17 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
22 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| 18 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
23 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
| 19 | 24 | ||
| 20 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
25 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
| 21 | SPSR = 0; // SPI2X |
26 | SPSR = 0; // SPI2X |
| 22 | 27 | ||
| 23 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
28 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
| 24 | SPITransferCompleted = 1; |
29 | SPITransferCompleted = 1; |
| 25 | - | ||
| 26 | ToNaviCtrl.Sync1 = 0x81; |
30 | |
| - | 31 | //SPDR = 0x00; // dummy write |
|
| 27 | ToNaviCtrl.Sync2 = 0x55; |
32 | |
| - | 33 | ToNaviCtrl_Value.Sync1 = 0x81; |
|
| - | 34 | ToNaviCtrl_Value.Sync2 = 0x55; |
|
| 28 | 35 | ||
| 29 | ToNaviCtrl.Comp = 12; |
36 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
| 30 | ToNaviCtrl.IntegralNick = 12345; |
37 | ToNaviCtrl_Value.IntegralNick = 12345; |
| 31 | ToNaviCtrl.IntegralRoll = 56789; |
38 | ToNaviCtrl_Value.IntegralRoll = 56789; |
| 32 | ToNaviCtrl.StickNick = 100; |
39 | ToNaviCtrl_Value.StickNick = 100; |
| 33 | ToNaviCtrl.StickRoll = 150;//(char) StickRoll; |
40 | ToNaviCtrl_Value.StickRoll = 150;//(char) StickRoll; |
| 34 | ToNaviCtrl.StickGier = 200;//(char) StickGier; |
41 | ToNaviCtrl_Value.StickGier = 200;//(char) StickGier; |
| 35 | 42 | ||
| 36 | } |
43 | } |
| 37 | 44 | ||
| 38 | //------------------------------------------------------ |
45 | //------------------------------------------------------ |
| 39 | void SPI_StartTransmitPacket(void) |
46 | void SPI_StartTransmitPacket(unsigned char command) |
| 40 | { |
47 | { |
| 41 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
48 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
| 42 | if (!SPITransferCompleted) return; |
49 | if (!SPITransferCompleted) return; |
| - | 50 | //if (!(SPSR & (1 << SPIF))) return; |
|
| - | 51 | _delay_us(30); |
|
| 43 | 52 | ||
| 44 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
53 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| - | 54 | ||
| - | 55 | switch(command) |
|
| - | 56 | { |
|
| - | 57 | case SPI_CMD_VERSION: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Version; |
|
| - | 58 | ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Version.Chksum; |
|
| - | 59 | break; |
|
| - | 60 | ||
| - | 61 | case SPI_CMD_VALUE: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Value; |
|
| - | 62 | ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Value.Chksum; |
|
| - | 63 | break; |
|
| - | 64 | ||
| - | 65 | } |
|
| - | 66 | ||
| 45 | 67 | ||
| 46 | SPITransferCompleted = 0; |
68 | SPITransferCompleted = 0; |
| 47 | UpdateSPI_Buffer(); // update buffer |
69 | UpdateSPI_Buffer(); // update buffer |
| 48 | SPI_BufferIndex = 1; |
70 | SPI_BufferIndex = 1; |
| 49 | DebugOut.Analog[16]++; |
71 | //ebugOut.Analog[16]++; |
| 50 | // -- Debug-Output --- |
72 | // -- Debug-Output --- |
| 51 | //---- |
73 | //---- |
| 52 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
74 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| 53 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
75 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| 54 | 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"); |
| 55 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
77 | SPDR = ToNaviCtrl_Value.Sync1; // Start transmission |
| 56 | ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1; |
78 | *ToNaviCtrl_Chksum = ToNaviCtrl_Value.Sync1; |
| 57 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
79 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| 58 | 80 | ||
| 59 | } |
81 | } |
| 60 | 82 | ||
| 61 | //------------------------------------------------------ |
83 | //------------------------------------------------------ |
| 62 | //SIGNAL(SIG_SPI) |
84 | //SIGNAL(SIG_SPI) |
| 63 | void SPI_TransmitByte(void) |
85 | void SPI_TransmitByte(void) |
| 64 | { |
86 | { |
| - | 87 | static unsigned char SPI_RXState = 0; |
|
| - | 88 | unsigned char rxdata; |
|
| - | 89 | static unsigned char rxchksum; |
|
| 65 | 90 | ||
| 66 | if (SPITransferCompleted) return; |
91 | if (SPITransferCompleted) return; |
| 67 | if (!(SPSR & (1 << SPIF))) return; |
92 | if (!(SPSR & (1 << SPIF))) return; |
| - | 93 | ||
| - | 94 | _delay_us(30); |
|
| 68 | 95 | ||
| 69 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
- | |
| 70 | - | ||
| 71 | if (SPI_BufferIndex < sizeof(FromNaviCtrl)) |
- | |
| 72 | { |
- | |
| 73 | SPI_Buffer[SPI_BufferIndex]= SPDR; // get data |
- | |
| 74 | - | ||
| 75 | // if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex]; |
- | |
| 76 | - | ||
| 77 | //if(SPDR!= 0x00) DebugOut.Analog[19]++; ; |
- | |
| - | 96 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
|
| - | 97 | ||
| - | 98 | rxdata = SPDR; |
|
| - | 99 | switch ( SPI_RXState) |
|
| - | 100 | { |
|
| - | 101 | case 0: |
|
| - | 102 | ||
| - | 103 | SPI_RxBufferIndex = 0; |
|
| - | 104 | //DebugOut.Analog[17]++; |
|
| - | 105 | rxchksum = rxdata; |
|
| - | 106 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
|
| - | 107 | ||
| - | 108 | break; |
|
| - | 109 | ||
| - | 110 | case 1: |
|
| - | 111 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
|
| - | 112 | else SPI_RXState = 0; |
|
| - | 113 | //DebugOut.Analog[18]++; |
|
| - | 114 | break; |
|
| - | 115 | ||
| - | 116 | case 2: |
|
| - | 117 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
|
| - | 118 | //DebugOut.Analog[19]++; |
|
| - | 119 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl_Value)) |
|
| - | 120 | { |
|
| - | 121 | ||
| - | 122 | if (rxdata == rxchksum) |
|
| - | 123 | { |
|
| - | 124 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl_Value; |
|
| - | 125 | ||
| - | 126 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
|
| - | 127 | ||
| - | 128 | DebugOut.Analog[20]++; |
|
| - | 129 | } |
|
| - | 130 | else DebugOut.Analog[21]++; |
|
| - | 131 | ||
| - | 132 | SPI_RXState = 0; |
|
| - | 133 | } |
|
| - | 134 | else rxchksum += rxdata; |
|
| - | 135 | break; |
|
| - | 136 | ||
| 78 | } |
137 | } |
| 79 | 138 | ||
| 80 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
139 | if (SPI_BufferIndex < sizeof(ToNaviCtrl_Value)) |
| 81 | { |
140 | { |
| 82 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
141 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 83 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
142 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| 84 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
143 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| 85 | 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"); |
| 86 | 145 | ||
| 87 | SPDR = Ptr_buffer[SPI_BufferIndex]; |
146 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
| 88 | ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex]; |
147 | *ToNaviCtrl_Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
| 89 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
148 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| 90 | 149 | ||
| 91 | } |
150 | } |
| 92 | else |
- | |
| 93 | { |
- | |
| 94 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
- | |
| 95 | - | ||
| 96 | SPITransferCompleted = 1; |
151 | else SPITransferCompleted = 1; |
| 97 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
- | |
| 98 | } |
- | |
| 99 | 152 | ||
| 100 | SPI_BufferIndex++; |
153 | SPI_BufferIndex++; |
| 101 | } |
154 | } |
| 102 | - | ||
| 103 | /* |
- | |
| 104 | void SPI_MasterInit(void) |
- | |
| 105 | { |
- | |
| 106 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
- | |
| 107 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
- | |
| 108 | |
- | |
| 109 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
- | |
| 110 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
- | |
| 111 | SPITransferCompleted = 1; |
- | |
| 112 | |
- | |
| 113 | ToNaviCtrl.Sync1 = 0x81; |
- | |
| 114 | ToNaviCtrl.Sync2 = 0x55; |
- | |
| 115 | |
- | |
| 116 | |
- | |
| 117 | } |
155 | |
| 118 | - | ||
| 119 | //------------------------------------------------------ |
- | |
| 120 | void SPI_StartTransmitPacket(void) |
- | |
| 121 | { |
- | |
| 122 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
- | |
| 123 | if (!SPITransferCompleted) return; |
- | |
| 124 | |
- | |
| 125 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
- | |
| 126 | SPITransferCompleted = 0; |
- | |
| 127 | UpdateSPI_Buffer(); // update buffer |
- | |
| 128 | SPI_BufferIndex = 1; |
- | |
| 129 | DebugOut.Analog[16]++; |
- | |
| 130 | // -- Debug-Output --- |
- | |
| 131 | //---- |
- | |
| 132 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
- | |
| 133 | } |
- | |
| 134 | - | ||
| 135 | //------------------------------------------------------ |
- | |
| 136 | //SIGNAL(SIG_SPI) |
- | |
| 137 | void SPI_TransmitByte(void) |
- | |
| 138 | { |
- | |
| 139 | if (!(SPSR & (1 << SPIF))) return; |
- | |
| 140 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
- | |
| 141 | |
- | |
| 142 | if (SPI_BufferIndex < sizeof(FromNaviCtrl)) |
- | |
| 143 | { |
- | |
| 144 | SPI_Buffer[SPI_BufferIndex]= SPDR; // get data |
- | |
| 145 | // if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex]; |
- | |
| 146 | |
- | |
| 147 | //if(SPDR!= 0x00) DebugOut.Analog[19]++; ; |
- | |
| 148 | } |
- | |
| 149 | |
- | |
| 150 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
- | |
| 151 | { |
- | |
| 152 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
- | |
| 153 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
- | |
| 154 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
- | |
| 155 | SPDR = Ptr_buffer[SPI_BufferIndex]; |
- | |
| 156 | } |
- | |
| 157 | else |
- | |
| 158 | { |
- | |
| 159 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
- | |
| 160 | |
- | |
| 161 | SPITransferCompleted = 1; |
- | |
| 162 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
- | |
| 163 | } |
- | |
| 164 | |
- | |
| 165 | SPI_BufferIndex++; |
- | |
| 166 | } |
- | |
| 167 | */ |
156 | |
| 168 | //------------------------------------------------------ |
157 | //------------------------------------------------------ |
| 169 | void UpdateSPI_Buffer(void) |
158 | void UpdateSPI_Buffer(void) |
| 170 | { |
159 | { |
| 171 | static unsigned char i =0; |
160 | static unsigned char i =0; |
| 172 | cli(); |
161 | cli(); |
| 173 | ToNaviCtrl.Comp = SPI_PROTOCOL_COMP; |
162 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
| 174 | ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4); |
163 | ToNaviCtrl_Value.IntegralNick = (int) (IntegralNick >> 4); |
| 175 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4); |
164 | ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll >> 4); |
| 176 | ToNaviCtrl.StickNick = 4; |
165 | ToNaviCtrl_Value.StickNick = 4; |
| 177 | ToNaviCtrl.StickRoll = 5;//(char) StickRoll; |
166 | ToNaviCtrl_Value.StickRoll = 5;//(char) StickRoll; |
| 178 | ToNaviCtrl.StickGier = 6;//(char) StickGier; |
167 | ToNaviCtrl_Value.StickGier = 6;//(char) StickGier; |
| 179 | sei(); |
168 | sei(); |
| - | 169 | ||
| - | 170 | DebugOut.Analog[30] = FromNaviCtrl_Value.GPS_Nick; |
|
| 180 | 171 | DebugOut.Analog[31] = FromNaviCtrl_Value.GPS_Roll; |
|
| 181 | } |
172 | } |
| 182 | 173 | ||
| 183 | #endif |
174 | #endif |
| 184 | 175 | ||
| 185 | 176 | ||
| 186 | 177 | ||