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| Rev 885 | Rev 886 | ||
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| 1 | // ######################## SPI - FlightCtrl ################### |
1 | // ######################## SPI - FlightCtrl ################### |
| - | 2 | #include <avr/io.h> |
|
| - | 3 | #include <avr/interrupt.h> |
|
| - | 4 | #include <string.h> |
|
| - | 5 | #include <stdlib.h> |
|
| - | 6 | #include "_Settings.h" |
|
| - | 7 | #include "spi.h" |
|
| - | 8 | #include "fc.h" |
|
| - | 9 | #include "rc.h" |
|
| - | 10 | #include "eeprom.h" |
|
| 2 | #include "main.h" |
11 | #include "uart.h" |
| - | 12 | #include "timer0.h" |
|
| - | 13 | ||
| - | 14 | #define SPI_TXSYNCBYTE1 0xAA |
|
| - | 15 | #define SPI_TXSYNCBYTE2 0x83 |
|
| - | 16 | #define SPI_RXSYNCBYTE1 0x81 |
|
| - | 17 | #define SPI_RXSYNCBYTE2 0x55 |
|
| - | 18 | ||
| - | 19 | typedef enum |
|
| - | 20 | { |
|
| - | 21 | SPI_SYNC1, |
|
| - | 22 | SPI_SYNC2, |
|
| - | 23 | SPI_DATA |
|
| - | 24 | } SPI_RXState_t; |
|
| - | 25 | ||
| - | 26 | ||
| - | 27 | // data exchange packets to and From NaviCtrl |
|
| - | 28 | ToNaviCtrl_t ToNaviCtrl; |
|
| - | 29 | FromNaviCtrl_t FromNaviCtrl; |
|
| - | 30 | ||
| - | 31 | // rx packet buffer |
|
| - | 32 | #define SPI_RXBUFFER_LEN sizeof(FromNaviCtrl) |
|
| - | 33 | uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
|
| - | 34 | uint8_t SPI_RxBufferIndex = 0; |
|
| - | 35 | uint8_t SPI_RxBuffer_Request = 0; |
|
| - | 36 | ||
| - | 37 | // tx packet buffer |
|
| - | 38 | #define SPI_TXBUFFER_LEN sizeof(ToNaviCtrl) |
|
| - | 39 | uint8_t *SPI_TxBuffer; |
|
| - | 40 | uint8_t SPI_TxBufferIndex = 0; |
|
| Line -... | Line 41... | ||
| - | 41 | ||
| - | 42 | uint8_t SPITransferCompleted, SPI_ChkSum; |
|
| Line 3... | Line -... | ||
| 3 | - | ||
| 4 | - | ||
| 5 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
- | |
| 6 | //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
- | |
| 7 | struct str_ToNaviCtrl ToNaviCtrl; |
- | |
| 8 | struct str_FromNaviCtrl FromNaviCtrl; |
- | |
| 9 | - | ||
| 10 | unsigned char SPI_BufferIndex; |
- | |
| 11 | unsigned char SPI_RxBufferIndex; |
- | |
| 12 | - | ||
| 13 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
- | |
| 14 | unsigned char *SPI_TX_Buffer; |
- | |
| 15 | - | ||
| 16 | unsigned char SPITransferCompleted, SPI_ChkSum; |
- | |
| 17 | unsigned char SPI_RxDataValid; |
43 | uint8_t SPI_RxDataValid; |
| 18 | 44 | ||
| Line 19... | Line 45... | ||
| 19 | unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS }; |
45 | uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS }; |
| Line -... | Line 46... | ||
| - | 46 | uint8_t SPI_CommandCounter = 0; |
|
| - | 47 | ||
| 20 | unsigned char SPI_CommandCounter = 0; |
48 | #ifdef USE_SPI_COMMUNICATION |
| 21 | 49 | ||
| 22 | #ifdef USE_SPI_COMMUNICATION |
50 | /*********************************************/ |
| 23 | 51 | /* Initialize SPI interface to NaviCtrl */ |
|
| 24 | //------------------------------------------------------ |
52 | /*********************************************/ |
| Line 25... | Line 53... | ||
| 25 | void SPI_MasterInit(void) |
53 | void SPI_MasterInit(void) |
| 26 | { |
54 | { |
| Line 27... | Line 55... | ||
| 27 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
55 | 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 | - | ||
| 30 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
- | |
| Line -... | Line 56... | ||
| - | 56 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
|
| - | 57 | ||
| - | 58 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
|
| 31 | SPSR = 0;//(1<<SPI2X); |
59 | SPSR = 0;//(1<<SPI2X); |
| 32 | 60 | ||
| Line 33... | Line 61... | ||
| 33 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
61 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave |
| 34 | SPITransferCompleted = 1; |
62 | |
| 35 | 63 | SPI_TxBuffer = (uint8_t *) &ToNaviCtrl; // set pointer to tx-buffer |
|
| 36 | //SPDR = 0x00; // dummy write |
64 | SPITransferCompleted = 1; |
| 37 | 65 | // initialize data packet to NaviControl |
|
| Line 38... | Line -... | ||
| 38 | ToNaviCtrl.Sync1 = 0xAA; |
- | |
| 39 | ToNaviCtrl.Sync2 = 0x83; |
- | |
| 40 | - | ||
| 41 | ToNaviCtrl.Command = SPI_CMD_USER; |
- | |
| 42 | ToNaviCtrl.IntegralNick = 0; |
- | |
| 43 | ToNaviCtrl.IntegralRoll = 0; |
- | |
| Line 44... | Line 66... | ||
| 44 | SPI_RxDataValid = 0; |
66 | ToNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
| 45 | } |
67 | ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
| - | 68 | ||
| - | 69 | ToNaviCtrl.Command = SPI_CMD_USER; |
|
| - | 70 | ToNaviCtrl.IntegralPitch = 0; |
|
| - | 71 | ToNaviCtrl.IntegralRoll = 0; |
|
| - | 72 | SPI_RxDataValid = 0; |
|
| Line -... | Line 73... | ||
| - | 73 | } |
|
| - | 74 | ||
| - | 75 | ||
| 46 | 76 | /**********************************************************/ |
|
| - | 77 | /* Update Data transferd by the SPI from/to NaviCtrl */ |
|
| - | 78 | /**********************************************************/ |
|
| - | 79 | void UpdateSPI_Buffer(void) |
|
| 47 | //------------------------------------------------------ |
80 | { |
| - | 81 | int16_t tmp; |
|
| - | 82 | cli(); // stop all interrupts to avoid writing of new data during update of that packet. |
|
| Line 48... | Line 83... | ||
| 48 | void SPI_StartTransmitPacket(void) |
83 | |
| - | 84 | // update content of packet to NaviCtrl |
|
| - | 85 | ToNaviCtrl.IntegralPitch = (int16_t) (IntegralPitch / 108); |
|
| 49 | { |
86 | ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 108); |
| - | 87 | ToNaviCtrl.GyroHeading = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
|
| - | 88 | ToNaviCtrl.GyroPitch = Reading_GyroPitch; |
|
| - | 89 | ToNaviCtrl.GyroRoll = Reading_GyroRoll; |
|
| - | 90 | ToNaviCtrl.GyroYaw = Reading_GyroYaw; |
|
| - | 91 | ToNaviCtrl.AccPitch = (int16_t) ACC_AMPLIFY * (NaviAccPitch / NaviCntAcc); |
|
| - | 92 | ToNaviCtrl.AccRoll = (int16_t) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
|
| - | 93 | NaviCntAcc = 0; NaviAccPitch = 0; NaviAccRoll = 0; |
|
| - | 94 | ||
| Line 50... | Line 95... | ||
| 50 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
95 | switch(ToNaviCtrl.Command) |
| - | 96 | { |
|
| 51 | if (!SPITransferCompleted) return; |
97 | case SPI_CMD_USER: |
| - | 98 | ToNaviCtrl.Param.Byte[0] = FCParam.UserParam1; |
|
| 52 | // _delay_us(30); |
99 | ToNaviCtrl.Param.Byte[1] = FCParam.UserParam2; |
| 53 | - | ||
| 54 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
100 | ToNaviCtrl.Param.Byte[2] = FCParam.UserParam3; |
| - | 101 | ToNaviCtrl.Param.Byte[3] = FCParam.UserParam4; |
|
| 55 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
102 | ToNaviCtrl.Param.Byte[4] = FCParam.UserParam5; |
| - | 103 | ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6; |
|
| - | 104 | ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7; |
|
| 56 | 105 | ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8; |
|
| 57 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
106 | break; |
| 58 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
107 | |
| 59 | 108 | case SPI_CMD_STICK: |
|
| - | 109 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
|
| Line -... | Line 110... | ||
| - | 110 | ToNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
|
| - | 111 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
|
| - | 112 | ToNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
|
| - | 113 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
|
| - | 114 | ToNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
|
| 60 | SPITransferCompleted = 0; |
115 | tmp = PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| 61 | UpdateSPI_Buffer(); // update buffer |
- | |
| 62 | - | ||
| 63 | SPI_BufferIndex = 1; |
116 | ToNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
| 64 | //ebugOut.Analog[16]++; |
- | |
| 65 | // -- Debug-Output --- |
117 | ToNaviCtrl.Param.Byte[4] = (uint8_t) Poti1; |
| 66 | //---- |
118 | ToNaviCtrl.Param.Byte[5] = (uint8_t) Poti2; |
| - | 119 | ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3; |
|
| 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"); |
120 | ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4; |
| 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"); |
121 | ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
| 70 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
- | |
| 71 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
- | |
| 72 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
- | |
| Line 73... | Line -... | ||
| 73 | - | ||
| 74 | } |
- | |
| Line -... | Line 122... | ||
| - | 122 | break; |
|
| - | 123 | ||
| - | 124 | case SPI_CMD_CAL_COMPASS: |
|
| - | 125 | if(CompassCalState > 5) |
|
| - | 126 | { |
|
| 75 | 127 | CompassCalState = 0; |
|
| - | 128 | ToNaviCtrl.Param.Byte[0] = 5; |
|
| - | 129 | } |
|
| - | 130 | else |
|
| - | 131 | { |
|
| - | 132 | ToNaviCtrl.Param.Byte[0] = CompassCalState; |
|
| 76 | //------------------------------------------------------ |
133 | } |
| - | 134 | break; |
|
| 77 | //SIGNAL(SIG_SPI) |
135 | } |
| - | 136 | ||
| 78 | void SPI_TransmitByte(void) |
137 | |
| - | 138 | sei(); // enable all interrupts |
|
| - | 139 | ||
| - | 140 | // analyze content of packet from NaviCtrl if valid |
|
| - | 141 | if (SPI_RxDataValid) |
|
| Line 79... | Line 142... | ||
| 79 | { |
142 | { |
| - | 143 | // update gps controls |
|
| 80 | static unsigned char SPI_RXState = 0; |
144 | if(abs(FromNaviCtrl.GPS_Pitch) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
| 81 | unsigned char rxdata; |
145 | { |
| 82 | static unsigned char rxchksum; |
146 | GPS_Pitch = FromNaviCtrl.GPS_Pitch; |
| - | 147 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
|
| Line -... | Line 148... | ||
| - | 148 | } |
|
| - | 149 | // update compass readings |
|
| - | 150 | if(FromNaviCtrl.CompassHeading <= 360) |
|
| 83 | 151 | { |
|
| Line 84... | Line 152... | ||
| 84 | if (SPITransferCompleted) return; |
152 | CompassHeading = FromNaviCtrl.CompassHeading; |
| 85 | if (!(SPSR & (1 << SPIF))) return; |
153 | } |
| 86 | SendSPI = 4; |
154 | if(CompassHeading < 0) CompassOffCourse = 0; |
| 87 | - | ||
| 88 | // _delay_us(30); |
155 | else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
| Line 89... | Line 156... | ||
| 89 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
156 | // NaviCtrl wants to beep? |
| 90 | - | ||
| 91 | rxdata = SPDR; |
157 | if (FromNaviCtrl.BeepTime > BeepTime && !CompassCalState) BeepTime = FromNaviCtrl.BeepTime; |
| - | 158 | ||
| - | 159 | switch (FromNaviCtrl.Command) |
|
| 92 | switch ( SPI_RXState) |
160 | { |
| 93 | { |
161 | case SPI_CMD_OSD_DATA: |
| - | 162 | // ToFlightCtrl.Param.Byte[0] = OsdBar; |
|
| - | 163 | // ToFlightCtrl.Param.Int[1] = Distance; |
|
| - | 164 | break; |
|
| - | 165 | ||
| - | 166 | case SPI_CMD_GPS_POS: |
|
| - | 167 | // ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
|
| Line -... | Line 168... | ||
| - | 168 | // ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
|
| - | 169 | break; |
|
| - | 170 | ||
| - | 171 | case SPI_CMD_GPS_TARGET: |
|
| 94 | case 0: |
172 | // ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
| 95 | 173 | // ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
|
| 96 | SPI_RxBufferIndex = 0; |
- | |
| Line -... | Line 174... | ||
| - | 174 | break; |
|
| - | 175 | ||
| - | 176 | default: |
|
| 97 | //DebugOut.Analog[17]++; |
177 | break; |
| Line 98... | Line 178... | ||
| 98 | rxchksum = rxdata; |
178 | } |
| 99 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
- | |
| 100 | 179 | } |
|
| - | 180 | else // no valid data from NaviCtrl |
|
| Line 101... | Line 181... | ||
| 101 | break; |
181 | { |
| 102 | - | ||
| 103 | case 1: |
182 | // disable GPS control |
| 104 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
- | |
| Line 105... | Line -... | ||
| 105 | else SPI_RXState = 0; |
- | |
| - | 183 | GPS_Pitch = 0; |
|
| Line 106... | Line 184... | ||
| 106 | //DebugOut.Analog[18]++; |
184 | GPS_Roll = 0; |
| 107 | break; |
185 | } |
| 108 | - | ||
| 109 | case 2: |
186 | } |
| 110 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
187 | |
| 111 | //DebugOut.Analog[19]++; |
188 | |
| 112 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
- | |
| 113 | { |
- | |
| 114 | 189 | ||
| 115 | if (rxdata == rxchksum) |
190 | /*********************************************/ |
| 116 | { |
- | |
| 117 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
191 | /* Start Transmission of packet to NaviCtrl */ |
| 118 | - | ||
| 119 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
- | |
| 120 | - | ||
| 121 | SPI_RxDataValid = 1; |
192 | /*********************************************/ |
| Line 122... | Line -... | ||
| 122 | } |
- | |
| 123 | else SPI_RxDataValid = 0; |
193 | void SPI_StartTransmitPacket(void) |
| - | 194 | { |
|
| - | 195 | ||
| - | 196 | if (!SPITransferCompleted) return; // return immediately if transfer is in progress |
|
| - | 197 | else // transmission was completed |
|
| 124 | 198 | { |
|
| 125 | SPI_RXState = 0; |
199 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
| 126 | } |
200 | |
| 127 | else rxchksum += rxdata; |
201 | // cyclic commands |
| 128 | break; |
202 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| - | 203 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
|
| - | 204 | ||
| - | 205 | SPITransferCompleted = 0; // tranfer is in progress |
|
| - | 206 | UpdateSPI_Buffer(); // update data in ToNaviCtrl |
|
| Line 129... | Line -... | ||
| 129 | - | ||
| 130 | } |
- | |
| 131 | - | ||
| 132 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
- | |
| 133 | { |
207 | |
| 134 | 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"); |
- | |
| - | 208 | SPI_TxBufferIndex = 1; //proceed with 2nd byte |
|
| 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"); |
209 | |
| Line 137... | Line 210... | ||
| 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"); |
210 | // -- Debug-Output --- |
| 138 | 211 | //---- |
|
| 139 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
212 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| 140 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
213 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| 141 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
- | |
| 142 | 214 | 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 | } |
215 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; // init checksum |
| 144 | else SPITransferCompleted = 1; |
216 | SPDR = ToNaviCtrl.Sync1; // send first byte |
| 145 | 217 | } |
|
| 146 | SPI_BufferIndex++; |
- | |
| - | 218 | } |
|
| 147 | } |
219 | |
| Line 148... | Line 220... | ||
| 148 | 220 | //------------------------------------------------------ |
|
| 149 | - | ||
| 150 | //------------------------------------------------------ |
- | |
| 151 | void UpdateSPI_Buffer(void) |
- | |
| 152 | { |
221 | // This is the spi data transfer between FlightCtrl and NaviCtrl |
| 153 | static unsigned char i =0; |
- | |
| 154 | signed int tmp; |
222 | // Every time this routine is called within the mainloop one byte of the packet to |
| 155 | cli(); |
- | |
| 156 | 223 | // the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
|
| 157 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108); |
- | |
| 158 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108); |
- | |
| 159 | ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
- | |
| 160 | ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
- | |
| 161 | ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
224 | |
| 162 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
225 | void SPI_TransmitByte(void) |
| 163 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
- | |
| 164 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
226 | { |
| 165 | - | ||
| 166 | switch(ToNaviCtrl.Command) // |
227 | static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
| 167 | { |
- | |
| 168 | case SPI_CMD_USER: |
228 | uint8_t rxdata; |
| 169 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
229 | static uint8_t rxchksum; |
| 170 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
- | |
| 171 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
230 | |
| 172 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
- | |
| 173 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
- | |
| 174 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
- | |
| Line 175... | Line 231... | ||
| 175 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
231 | if (SPITransferCompleted) return; // return immediatly if transfer was completed |
| - | 232 | if (!(SPSR & (1 << SPIF))) return; // return if no SPI-IRQ pending |
|
| - | 233 | SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
|
| - | 234 | ||
| - | 235 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
|
| - | 236 | ||
| 176 | break; |
237 | rxdata = SPDR; // save spi data register |
| - | 238 | ||
| - | 239 | switch (SPI_RXState) |
|
| - | 240 | { |
|
| 177 | 241 | case SPI_SYNC1: // first sync byte |
|
| 178 | case SPI_CMD_STICK: |
242 | SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
| 179 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
243 | rxchksum = rxdata; // initialize checksum |
| 180 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
244 | if (rxdata == SPI_RXSYNCBYTE1 ) |
| 181 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
245 | { // 1st Syncbyte found |
| - | 246 | SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
|
| 182 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
247 | } |
| - | 248 | break; |
|
| 183 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
249 | |
| 184 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
250 | case SPI_SYNC2: // second sync byte |
| 185 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
251 | if (rxdata == SPI_RXSYNCBYTE2) |
| 186 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
252 | { // 2nd Syncbyte found |
| 187 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1; |
253 | rxchksum += rxdata; // update checksum |
| 188 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2; |
254 | SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
| 189 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3; |
- | |
| 190 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4; |
- | |
| 191 | ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay; |
255 | } |
| 192 | 256 | else // 2nd Syncbyte not found |
|
| 193 | break; |
- | |
| 194 | case SPI_CMD_CAL_COMPASS: |
- | |
| 195 | if(WinkelOut.CalcState > 5) |
- | |
| 196 | { |
- | |
| 197 | WinkelOut.CalcState = 0; |
257 | { |
| - | 258 | SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
|
| Line 198... | Line 259... | ||
| 198 | ToNaviCtrl.Param.Byte[0] = 5; |
259 | } |
| 199 | } |
260 | break; |
| - | 261 | ||
| 200 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
262 | case SPI_DATA: // data bytes |
| 201 | break; |
- | |
| - | 263 | SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
|
| - | 264 | // if all bytes are received of a packet from the NaviCtrl |
|
| - | 265 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) |
|
| Line 202... | Line 266... | ||
| 202 | } |
266 | { // last byte transfered is the checksum of the packet |
| - | 267 | if (rxdata == rxchksum) // checksum matching? |
|
| 203 | 268 | { |
|
| 204 | sei(); |
- | |
| 205 | 269 | // copy SPI_RxBuffer -> FromFlightCtrl |
|
| 206 | if (SPI_RxDataValid) |
270 | uint8_t *ptr = (uint8_t *)&FromNaviCtrl; |
| 207 | { |
271 | cli(); |
| 208 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
272 | memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(FromNaviCtrl)); |
| 209 | { |
273 | sei(); |
| 210 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
- | |
| 211 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
- | |
| 212 | } |
- | |
| 213 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
274 | SPI_RxDataValid = 1; |
| 214 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
275 | DebugOut.Analog[18]++; |
| Line -... | Line 276... | ||
| - | 276 | } |
|
| 215 | 277 | else |
|