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1 | // ######################## SPI - FlightCtrl ################### |
1 | // ######################## SPI - FlightCtrl ################### |
2 | #include "main.h" |
2 | #include "main.h" |
Line 3... | Line 3... | ||
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; |
Line 7... | Line 7... | ||
7 | struct str_ToNaviCtrl_Value ToNaviCtrl_Value; |
7 | struct str_ToNaviCtrl ToNaviCtrl; |
8 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
8 | struct str_FromNaviCtrl FromNaviCtrl; |
Line 9... | Line 9... | ||
9 | 9 | ||
10 | unsigned char SPI_BufferIndex; |
10 | unsigned char SPI_BufferIndex; |
Line 11... | Line 11... | ||
11 | unsigned char SPI_RxBufferIndex; |
11 | unsigned char SPI_RxBufferIndex; |
12 | 12 | ||
Line -... | Line 13... | ||
- | 13 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl) + 8]; |
|
- | 14 | unsigned char *SPI_TX_Buffer; |
|
- | 15 | ||
13 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl_Value) + 8]; |
16 | unsigned char SPITransferCompleted, SPI_ChkSum; |
Line 14... | Line 17... | ||
14 | unsigned char *SPI_TX_Buffer, *ToNaviCtrl_Chksum; |
17 | unsigned char SPI_RxDataValid; |
15 | 18 | ||
16 | unsigned char SPITransferCompleted, SPI_ChkSum; |
19 | unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS }; |
Line 30... | Line 33... | ||
30 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
33 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
31 | SPITransferCompleted = 1; |
34 | SPITransferCompleted = 1; |
Line 32... | Line 35... | ||
32 | 35 | ||
Line 33... | Line 36... | ||
33 | //SPDR = 0x00; // dummy write |
36 | //SPDR = 0x00; // dummy write |
34 | 37 | ||
Line 35... | Line 38... | ||
35 | ToNaviCtrl_Value.Sync1 = 0xAA; |
38 | ToNaviCtrl.Sync1 = 0xAA; |
36 | ToNaviCtrl_Value.Sync2 = 0x83; |
39 | ToNaviCtrl.Sync2 = 0x83; |
37 | 40 | ||
38 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
- | |
39 | ToNaviCtrl_Value.IntegralNick = 0; |
- | |
40 | ToNaviCtrl_Value.IntegralRoll = 0; |
- | |
41 | ToNaviCtrl_Value.StickNick = 0; |
- | |
42 | ToNaviCtrl_Value.StickRoll = 0;//(char) StickRoll; |
41 | ToNaviCtrl.Command = SPI_CMD_USER; |
43 | ToNaviCtrl_Value.StickGier = 0;//(char) StickGier; |
42 | ToNaviCtrl.IntegralNick = 0; |
Line 44... | Line 43... | ||
44 | ToNaviCtrl_Value.CalState = 0; |
43 | ToNaviCtrl.IntegralRoll = 0; |
45 | SPI_RxDataValid = 0; |
44 | SPI_RxDataValid = 0; |
46 | } |
45 | } |
47 | 46 | ||
48 | //------------------------------------------------------ |
47 | //------------------------------------------------------ |
49 | void SPI_StartTransmitPacket(unsigned char command) |
48 | void SPI_StartTransmitPacket(void) |
Line 50... | Line 49... | ||
50 | { |
49 | { |
- | 50 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
|
Line 51... | Line -... | ||
51 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
- | |
52 | if (!SPITransferCompleted) return; |
- | |
53 | // _delay_us(30); |
- | |
54 | 51 | if (!SPITransferCompleted) return; |
|
55 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
- | |
56 | - | ||
57 | switch(command) |
52 | // _delay_us(30); |
58 | { |
- | |
59 | case SPI_CMD_VERSION: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Version; |
- | |
60 | ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Version.Chksum; |
- | |
61 | break; |
- | |
62 | - | ||
Line 63... | Line 53... | ||
63 | case SPI_CMD_VALUE: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Value; |
53 | |
64 | ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Value.Chksum; |
54 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
- | 55 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
|
65 | break; |
56 | |
66 | 57 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
|
67 | } |
58 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
68 | 59 | ||
69 | 60 | SPITransferCompleted = 0; |
|
70 | SPITransferCompleted = 0; |
61 | UpdateSPI_Buffer(); // update buffer |
71 | UpdateSPI_Buffer(); // update buffer |
62 | |
- | 63 | SPI_BufferIndex = 1; |
|
72 | SPI_BufferIndex = 1; |
64 | //ebugOut.Analog[16]++; |
73 | //ebugOut.Analog[16]++; |
- | |
74 | // -- Debug-Output --- |
65 | // -- Debug-Output --- |
Line 75... | Line 66... | ||
75 | //---- |
66 | //---- |
Line 76... | Line 67... | ||
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"); |
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"); |
Line 116... | Line 107... | ||
116 | break; |
107 | break; |
Line 117... | Line 108... | ||
117 | 108 | ||
118 | case 2: |
109 | case 2: |
119 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
110 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
120 | //DebugOut.Analog[19]++; |
111 | //DebugOut.Analog[19]++; |
121 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl_Value)) |
112 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
Line 122... | Line 113... | ||
122 | { |
113 | { |
123 | 114 | ||
124 | if (rxdata == rxchksum) |
115 | if (rxdata == rxchksum) |
Line 125... | Line 116... | ||
125 | { |
116 | { |
Line 126... | Line 117... | ||
126 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl_Value; |
117 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
127 | 118 | ||
Line 136... | Line 127... | ||
136 | else rxchksum += rxdata; |
127 | else rxchksum += rxdata; |
137 | break; |
128 | break; |
Line 138... | Line 129... | ||
138 | 129 | ||
Line 139... | Line 130... | ||
139 | } |
130 | } |
140 | 131 | ||
141 | if (SPI_BufferIndex < sizeof(ToNaviCtrl_Value)) |
132 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
142 | { |
133 | { |
143 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
134 | 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"); |
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"); |
Line 145... | Line 136... | ||
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"); |
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"); |
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"); |
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"); |
147 | 138 | ||
Line 148... | Line 139... | ||
148 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
139 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
149 | *ToNaviCtrl_Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
140 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
Line 159... | Line 150... | ||
159 | //------------------------------------------------------ |
150 | //------------------------------------------------------ |
160 | void UpdateSPI_Buffer(void) |
151 | void UpdateSPI_Buffer(void) |
161 | { |
152 | { |
162 | static unsigned char i =0; |
153 | static unsigned char i =0; |
163 | cli(); |
154 | cli(); |
164 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
- | |
- | 155 | ||
165 | ToNaviCtrl_Value.IntegralNick = (int) (IntegralNick / 1024); |
156 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / 1024); |
166 | ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024); |
157 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 1024); |
167 | ToNaviCtrl_Value.StickNick = (char) PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; |
- | |
168 | ToNaviCtrl_Value.StickRoll = (char) PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; |
- | |
169 | ToNaviCtrl_Value.StickGier = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
- | |
170 | ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
158 | ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
171 | ToNaviCtrl_Value.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
159 | ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
172 | ToNaviCtrl_Value.AccRoll = (int) ACC_AMPLIFY * (Mittelwert_AccRoll / NaviCntAcc); |
160 | ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (Mittelwert_AccRoll / NaviCntAcc); |
173 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
161 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
174 | ToNaviCtrl_Value.User1 = Parameter_UserParam1; |
162 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
- | 163 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
|
- | 164 | ||
- | 165 | switch(ToNaviCtrl.Command) // |
|
- | 166 | { |
|
- | 167 | case SPI_CMD_USER: |
|
175 | ToNaviCtrl_Value.User2 = Parameter_UserParam2; |
168 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
176 | ToNaviCtrl_Value.User3 = Parameter_UserParam3; |
169 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
177 | ToNaviCtrl_Value.User4 = Parameter_UserParam4; |
170 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
178 | ToNaviCtrl_Value.User5 = Parameter_UserParam5; |
171 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
179 | ToNaviCtrl_Value.User6 = Parameter_UserParam6; |
172 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
180 | ToNaviCtrl_Value.User7 = Parameter_UserParam7; |
173 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
181 | // ToNaviCtrl_Value.User8 = Parameter_UserParam8; |
174 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
- | 175 | break; |
|
- | 176 | ||
- | 177 | case SPI_CMD_STICK: |
|
- | 178 | ToNaviCtrl.Param.Byte[0] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; |
|
- | 179 | ToNaviCtrl.Param.Byte[1] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
|
- | 180 | ToNaviCtrl.Param.Byte[2] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; |
|
- | 181 | ToNaviCtrl.Param.Byte[3] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; |
|
- | 182 | ToNaviCtrl.Param.Byte[4] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]; |
|
- | 183 | ToNaviCtrl.Param.Byte[5] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]; |
|
- | 184 | ToNaviCtrl.Param.Byte[6] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]; |
|
- | 185 | ToNaviCtrl.Param.Byte[7] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]; |
|
- | 186 | ||
- | 187 | break; |
|
- | 188 | case SPI_CMD_CAL_COMPASS: |
|
182 | ToNaviCtrl_Value.CalState = WinkelOut.CalcState; |
189 | ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
- | 190 | break; |
|
- | 191 | } |
|
- | 192 | ||
- | 193 | ||
183 | sei(); |
194 | sei(); |
Line -... | Line 195... | ||
- | 195 | ||
- | 196 | ||
184 | 197 | ||
185 | if (SPI_RxDataValid) |
198 | if (SPI_RxDataValid) |
186 | { |
199 | { |
187 | GPS_Nick = FromNaviCtrl_Value.GPS_Nick; |
200 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
188 | GPS_Roll = FromNaviCtrl_Value.GPS_Roll; |
201 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
189 | KompassValue = FromNaviCtrl_Value.CompassValue; |
202 | KompassValue = FromNaviCtrl.CompassValue; |
Line 190... | Line 203... | ||
190 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
203 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
- | 204 | ||
- | 205 | if (FromNaviCtrl.BeepTime > beeptime) beeptime = FromNaviCtrl.BeepTime; |
|
- | 206 | ||
- | 207 | switch (FromNaviCtrl.Command) |
|
- | 208 | { |
|
- | 209 | case SPI_CMD_OSD_DATA: |
|
- | 210 | // ToFlightCtrl.Param.Byte[0] = OsdBar; |
|
- | 211 | // ToFlightCtrl.Param.Int[1] = Distance; |
|
- | 212 | break; |
|
- | 213 | ||
- | 214 | case SPI_CMD_GPS_POS: |
|
- | 215 | // ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
|
- | 216 | // ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
|
- | 217 | break; |
|
- | 218 | ||
- | 219 | case SPI_CMD_GPS_TARGET: |
|
- | 220 | // ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
|
- | 221 | // ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
|
- | 222 | break; |
|
- | 223 | ||
- | 224 | default: |
|
191 | 225 | break; |
|
192 | if (FromNaviCtrl_Value.BeepTime > beeptime) beeptime = FromNaviCtrl_Value.BeepTime; |
226 | } |
193 | } |
227 | } |
194 | else |
228 | else |
195 | { |
229 | { |