WebSVN - FlightCtrl - Diff - Rev 1036 and 1051 - /branches/V0.88e_ACC-HH_HR

 //struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
 //struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
 struct str_ToNaviCtrl   ToNaviCtrl;
 struct str_FromNaviCtrl   FromNaviCtrl;
 struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
+struct str_SPI_VersionInfo SPI_VersionInfo;
 unsigned char              SPI_BufferIndex;
 unsigned char              SPI_RxBufferIndex;
 #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;
+  SPI_VersionInfo.Major = VERSION_MAJOR;
+  SPI_VersionInfo.Minor = VERSION_MINOR;
+  SPI_VersionInfo.Patch = VERSION_PATCH;
-  SPI_RxDataValid = 0;
+  SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE;
+}
 //------------------------------------------------------
 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;
                 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] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard
                                 ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
                                 ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
                                 ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
                                 ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
                                 ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
                                 ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
                 ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
                 ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
                 ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
                 ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
             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[6] = (unsigned char) Poti3;
                     ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
                     ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
             break;
          case SPI_CMD_MISC:
                 if(WinkelOut.CalcState > 5)
+                  {
                     WinkelOut.CalcState = 0;
                     ToNaviCtrl.Param.Byte[0] = 5;
                   }
                                 else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
                                 ToNaviCtrl.Param.Int[1] = HoehenWert;
             break;
          case SPI_CMD_VERSION:
-                                ToNaviCtrl.Param.Byte[0] = VersionInfo.Hauptversion;
+                                ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;
-                                ToNaviCtrl.Param.Byte[1] = VersionInfo.Nebenversion;
-                                ToNaviCtrl.Param.Byte[2] = VersionInfo.PCKompatibel;
+                                ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;
-                                ToNaviCtrl.Param.Byte[3] = VersionInfo.Patch;
+                                ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;
-                                ToNaviCtrl.Param.Byte[4] = VersionInfo.NaviKompatibel;
+                                ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;
             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_KALMAN:
                FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0];
                FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1];
                FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2];
                break;
             case  SPI_CMD_OSD_DATA:
                FromNaviCtrl_Value.OsdBar = FromNaviCtrl.Param.Byte[0];
                FromNaviCtrl_Value.Distance = FromNaviCtrl.Param.Int[1];
+  }
   else
+  {
 //    KompassValue = 0;
 //    KompassRichtung = 0;
         GPS_Nick = 0;
     GPS_Roll = 0;
+  }
+}

Subversion Repositories FlightCtrl

(root)/branches/V0.88e_ACC-HH_HR_MartinR/spi.c @ 2093 - Rev 1036 → 1051