WebSVN - FlightCtrl - Diff - Rev 1645 and 1775 - /branches/dongfang_FC

 #define SPIF   SPIF0
 #endif
 #ifndef WCOL
 #define WCOL   WCOL0
 #endif
-//#ifndef SPI2X
+#ifndef SPI2X
 #define SPI2X  SPI2X0
-//#endif
+#endif
 // -------------------------
 #define SLAVE_SELECT_DDR_PORT   DDRC
 #define SLAVE_SELECT_PORT       PORTC
 #define SPI_TXSYNCBYTE1 0xAA
 #define SPI_TXSYNCBYTE2 0x83
 #define SPI_RXSYNCBYTE1 0x81
 #define SPI_RXSYNCBYTE2 0x55
-typedef enum
-  {
+typedef enum {
-    SPI_SYNC1,
+  SPI_SYNC1,
-    SPI_SYNC2,
+  SPI_SYNC2,
-    SPI_DATA
+  SPI_DATA
-  } SPI_RXState_t;
 } SPI_RXState_t;
 // data exchange packets to and From NaviCtrl
+ToNaviCtrl_t                    toNaviCtrl;
-ToNaviCtrl_t                    ToNaviCtrl;
-FromNaviCtrl_t                  FromNaviCtrl;
+FromNaviCtrl_t                  fromNaviCtrl;
+SPI_VersionInfo_t               SPI_VersionInfo;
 SPI_VersionInfo_t SPI_VersionInfo;
 // rx packet buffer
-#define SPI_RXBUFFER_LEN sizeof(FromNaviCtrl)
+#define SPI_RXBUFFER_LEN sizeof(fromNaviCtrl)
 uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN];
 uint8_t SPI_RxBufferIndex = 0;
 uint8_t SPI_RxBuffer_Request = 0;
 // tx packet buffer
   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); // Deselect Slave
-  SPI_TxBuffer = (uint8_t *) &ToNaviCtrl; // set pointer to tx-buffer
+  SPI_TxBuffer = (uint8_t *) &toNaviCtrl; // set pointer to tx-buffer
   SPITransferCompleted = 1;
   // initialize data packet to NaviControl
-  ToNaviCtrl.Sync1 = SPI_TXSYNCBYTE1;
+  toNaviCtrl.Sync1 = SPI_TXSYNCBYTE1;
-  ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2;
+  toNaviCtrl.Sync2 = SPI_TXSYNCBYTE2;
-  ToNaviCtrl.Command = SPI_CMD_USER;
+  toNaviCtrl.Command = SPI_CMD_USER;
-  ToNaviCtrl.IntegralNick = 0;
+  toNaviCtrl.IntegralPitch = 0;
-  ToNaviCtrl.IntegralRoll = 0;
+  toNaviCtrl.IntegralRoll = 0;
   SPI_VersionInfo.Minor = VERSION_MINOR;
   SPI_VersionInfo.Patch = VERSION_PATCH;
   SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE;
+}
 /**********************************************************/
 /*  Update Data transferd by the SPI from/to NaviCtrl     */
 /**********************************************************/
 void UpdateSPI_Buffer(void) {
   uint8_t i;
   int16_t tmp;
   cli(); // stop all interrupts to avoid writing of new data during update of that packet.
   // update content of packet to NaviCtrl
-  ToNaviCtrl.IntegralNick = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
+  toNaviCtrl.IntegralPitch = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
-  ToNaviCtrl.IntegralRoll = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
+  toNaviCtrl.IntegralRoll  = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL);  // convert to multiple of 0.1°
-  ToNaviCtrl.GyroHeading  = (int16_t)((10 * yawGyroHeading)   / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1°
+  toNaviCtrl.GyroHeading   = (int16_t)((10 * yawGyroHeading)   / GYRO_DEG_FACTOR_YAW);   // convert to multiple of 0.1°
-  ToNaviCtrl.GyroNick = rate_PID[PITCH]; // TODO: Which one should it be??
+  toNaviCtrl.GyroPitch = rate_ATT[PITCH];
-  ToNaviCtrl.GyroRoll = rate_PID[ROLL];
+  toNaviCtrl.GyroRoll = rate_ATT[ROLL];
-  ToNaviCtrl.GyroYaw =  yawRate;
+  toNaviCtrl.GyroYaw  = yawRate;
-  ToNaviCtrl.AccNick =  0; // ((int16_t) 10 * ACC_AMPLIFY * (NaviAccNick / NaviCntAcc)) / ACC_DEG_FACTOR; // convert to multiple of 0.1°
+  toNaviCtrl.AccPitch = (10 * getAngleEstimateFromAcc(PITCH)) / GYRO_DEG_FACTOR_PITCHROLL; // convert to multiple of 0.1°
+  toNaviCtrl.AccRoll  = (10 * getAngleEstimateFromAcc(ROLL))  / GYRO_DEG_FACTOR_PITCHROLL; // convert to multiple of 0.1°
+  // TODO: What are these little bastards?
-  ToNaviCtrl.AccRoll =  0; // ((int16_t) 10 * ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc)) / ACC_DEG_FACTOR; // convert to multiple of 0.1°
-  // naviCntAcc = 0; naviAccPitch = 0; naviAccRoll = 0;
+  averageAcc[PITCH] = averageAcc[ROLL] = averageAccCount = 0;
-  switch(ToNaviCtrl.Command) {
+  switch(toNaviCtrl.Command) {
   case SPI_CMD_USER:
     for (i=0; i<sizeof(dynamicParams.UserParams); i++) {
-      ToNaviCtrl.Param.Byte[i] = dynamicParams.UserParams[i];
+      toNaviCtrl.Param.Byte[i] = dynamicParams.UserParams[i];
     }
-    ToNaviCtrl.Param.Byte[8] = MKFlags;
+    toNaviCtrl.Param.Byte[8] = MKFlags;
     MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting
-    ToNaviCtrl.Param.Byte[9] = (uint8_t)UBat;
+    toNaviCtrl.Param.Byte[9] = (uint8_t)UBat;
-    ToNaviCtrl.Param.Byte[10] = staticParams.LowVoltageWarning;
+    toNaviCtrl.Param.Byte[10] = staticParams.LowVoltageWarning;
-    ToNaviCtrl.Param.Byte[11] = getActiveParamSet();
+    toNaviCtrl.Param.Byte[11] = getActiveParamSet();
     break;
   case SPI_CMD_PARAMETER1:
-    ToNaviCtrl.Param.Byte[0] = staticParams.NaviGpsModeControl;     // Parameters for the Naviboard
+    toNaviCtrl.Param.Byte[0] = staticParams.NaviGpsModeControl;     // Parameters for the Naviboard
-    ToNaviCtrl.Param.Byte[1] = staticParams.NaviGpsGain;
+    toNaviCtrl.Param.Byte[1] = staticParams.NaviGpsGain;
-    ToNaviCtrl.Param.Byte[2] = staticParams.NaviGpsP;
+    toNaviCtrl.Param.Byte[2] = staticParams.NaviGpsP;
-    ToNaviCtrl.Param.Byte[3] = staticParams.NaviGpsI;
+    toNaviCtrl.Param.Byte[3] = staticParams.NaviGpsI;
-    ToNaviCtrl.Param.Byte[4] = staticParams.NaviGpsD;
+    toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsD;
-    ToNaviCtrl.Param.Byte[5] = staticParams.NaviGpsACC;
+    toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsACC;
-    ToNaviCtrl.Param.Byte[6] = staticParams.NaviGpsMinSat;
+    toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsMinSat;
-    ToNaviCtrl.Param.Byte[7] = staticParams.NaviStickThreshold;
+    toNaviCtrl.Param.Byte[7] = staticParams.NaviStickThreshold;
-    ToNaviCtrl.Param.Byte[8] = staticParams.NaviOperatingRadius;
+    toNaviCtrl.Param.Byte[8] = staticParams.NaviOperatingRadius;
-    ToNaviCtrl.Param.Byte[9] = staticParams.NaviWindCorrection;
+    toNaviCtrl.Param.Byte[9] = staticParams.NaviWindCorrection;
-    ToNaviCtrl.Param.Byte[10] = staticParams.NaviSpeedCompensation;
+    toNaviCtrl.Param.Byte[10] = staticParams.NaviSpeedCompensation;
-    ToNaviCtrl.Param.Byte[11] = staticParams.NaviAngleLimitation;
+    toNaviCtrl.Param.Byte[11] = staticParams.NaviAngleLimitation;
     break;
   case SPI_CMD_STICK:
     tmp = PPM_in[staticParams.ChannelAssignment[CH_THROTTLE]];  if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128;
-    ToNaviCtrl.Param.Byte[0] = (int8_t) tmp;
+    toNaviCtrl.Param.Byte[0] = (int8_t) tmp;
     tmp = PPM_in[staticParams.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128;
-    ToNaviCtrl.Param.Byte[1] = (int8_t) tmp;
+    toNaviCtrl.Param.Byte[1] = (int8_t) tmp;
     tmp = PPM_in[staticParams.ChannelAssignment[CH_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128;
-    ToNaviCtrl.Param.Byte[2] = (int8_t) tmp;
+    toNaviCtrl.Param.Byte[2] = (int8_t) tmp;
     tmp = PPM_in[staticParams.ChannelAssignment[CH_PITCH]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128;
-    ToNaviCtrl.Param.Byte[3] = (int8_t) tmp;
+    toNaviCtrl.Param.Byte[3] = (int8_t) tmp;
-    ToNaviCtrl.Param.Byte[4] = (uint8_t) variables[0];
+    toNaviCtrl.Param.Byte[4] = (uint8_t) variables[0];
-    ToNaviCtrl.Param.Byte[5] = (uint8_t) variables[1];
+    toNaviCtrl.Param.Byte[5] = (uint8_t) variables[1];
-    ToNaviCtrl.Param.Byte[6] = (uint8_t) variables[2];
+    toNaviCtrl.Param.Byte[6] = (uint8_t) variables[2];
-    ToNaviCtrl.Param.Byte[7] = (uint8_t) variables[3];
+    toNaviCtrl.Param.Byte[7] = (uint8_t) variables[3];
-    ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality;
-    break;
+    toNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality;
+    break;
-  case SPI_CMD_MISC:
+  case SPI_CMD_MISC:
-    ToNaviCtrl.Param.Byte[0] = compassCalState;
+    toNaviCtrl.Param.Byte[0] = compassCalState;
-    if(compassCalState > 4)
+    if(compassCalState > 4) { // jump from 5 to 0
-      { // jump from 5 to 0
+          compassCalState  = 0;
-        compassCalState  = 0;
+    }
     toNaviCtrl.Param.Byte[1] = staticParams.NaviPHLoginTime;
-    ToNaviCtrl.Param.Byte[1] = staticParams.NaviPHLoginTime;
+    // TODO: Height and in the correct scaling...
-    ToNaviCtrl.Param.Int[1]  = 0; //readingHeight; // at address of Byte 2 and 3
+    toNaviCtrl.Param.Int[1]  = 0; //readingHeight; // at address of Byte 2 and 3
-    ToNaviCtrl.Param.Byte[4] = staticParams.NaviGpsPLimit;
+    toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsPLimit;
-    ToNaviCtrl.Param.Byte[5] = staticParams.NaviGpsILimit;
+    toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsILimit;
-    ToNaviCtrl.Param.Byte[6] = staticParams.NaviGpsDLimit;
+    toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsDLimit;
     break;
-  case SPI_CMD_VERSION:
-    ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;
+  case SPI_CMD_VERSION:
-    ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;
+    toNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;
-    ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;
+    toNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;
-    ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;
+    toNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;
-    ToNaviCtrl.Param.Byte[4] = BoardRelease;
+    toNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;
-    break;
+    toNaviCtrl.Param.Byte[4] = BoardRelease;
     break;
   default:
     break;
   }
   sei(); // enable all interrupts
   // analyze content of packet from NaviCtrl if valid
   if (SPI_RxDataValid) {
     // update gps controls
-    if(abs(FromNaviCtrl.GPSStickNick) < 512 && abs(FromNaviCtrl.GPSStickRoll) < 512 && (staticParams.GlobalConfig & CFG_GPS_ACTIVE)) {
+    if(abs(fromNaviCtrl.GPSStickPitch) < 512 && abs(fromNaviCtrl.GPSStickRoll) < 512 && (staticParams.GlobalConfig & CFG_GPS_ACTIVE)) {
-      GPSStickPitch     = FromNaviCtrl.GPSStickNick;
+      GPSStickPitch     = fromNaviCtrl.GPSStickPitch;
-      GPSStickRoll      = FromNaviCtrl.GPSStickRoll;
+      GPSStickRoll      = fromNaviCtrl.GPSStickRoll;
       NCDataOkay = 250;
     }
     // update compass readings
-    if(FromNaviCtrl.CompassHeading <= 360) {
+    if(fromNaviCtrl.CompassHeading <= 360) {
-      compassHeading = FromNaviCtrl.CompassHeading;
+      compassHeading = fromNaviCtrl.CompassHeading;
     }
     if(compassHeading < 0) compassOffCourse = 0;
-    else compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;
-    // NaviCtrl wants to beep?
+    else compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;
-    if (FromNaviCtrl.BeepTime > BeepTime && !compassCalState) BeepTime = FromNaviCtrl.BeepTime;
+    // NaviCtrl wants to beep?
     if (fromNaviCtrl.BeepTime > BeepTime && !compassCalState) BeepTime = fromNaviCtrl.BeepTime;
     switch (FromNaviCtrl.Command) {
-    case SPI_KALMAN:
-      dynamicParams.KalmanK = FromNaviCtrl.Param.Byte[0];
+    switch (fromNaviCtrl.Command) {
-      dynamicParams.KalmanMaxFusion = FromNaviCtrl.Param.Byte[1];
-      dynamicParams.KalmanMaxDrift = FromNaviCtrl.Param.Byte[2];
+    case SPI_KALMAN:
-      NCSerialDataOkay = FromNaviCtrl.Param.Byte[3];
+      dynamicParams.KalmanK             = fromNaviCtrl.Param.Byte[0];
-      //DebugOut.Analog[29] = NCSerialDataOkay;
+      dynamicParams.KalmanMaxFusion = fromNaviCtrl.Param.Byte[1];
-      break;
+      dynamicParams.KalmanMaxDrift      = fromNaviCtrl.Param.Byte[2];
       NCSerialDataOkay                          = fromNaviCtrl.Param.Byte[3];
   else // transmission was completed
+    {
       SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // Select slave
       // cyclic commands
-      ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
+      toNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
       if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
       SPITransferCompleted = 0; // transfer is in progress
-      UpdateSPI_Buffer();    // update data in ToNaviCtrl
+      UpdateSPI_Buffer();    // update data in toNaviCtrl
       SPI_TxBufferIndex = 1; //proceed with 2nd byte
       // -- 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; // init checksum
+      toNaviCtrl.Chksum = toNaviCtrl.Sync1; // init checksum
-      SPDR = ToNaviCtrl.Sync1; // send first byte
+      SPDR = toNaviCtrl.Sync1; // send first byte
     break;
   case SPI_DATA: // data bytes
     SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata;  // copy data byte to spi buffer
-    // if all bytes are received of a packet from the NaviCtrl
-    if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN)
+    // if all bytes are received of a packet from the NaviCtrl
-      {   // last byte transfered is the checksum of the packet
+    if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) {   // last byte transfered is the checksum of the packet
-        if (rxdata == rxchksum) // checksum matching?
         if (rxdata == rxchksum) { // checksum matching?
             // copy SPI_RxBuffer -> FromFlightCtrl
-            uint8_t *ptr = (uint8_t *)&FromNaviCtrl;
+            uint8_t *ptr = (uint8_t *)&fromNaviCtrl;
             cli();
-            memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(FromNaviCtrl));
+            memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(fromNaviCtrl));
             sei();
-            SPI_RxDataValid = 1;
-            //DebugOut.Analog[18]++;
-          }
-        else
+            SPI_RxDataValid = 1;
-          {   // checksum does not match
-            //DebugOut.Analog[17]++;
+          } else {   // checksum does not match
             SPI_RxDataValid = 0; // reset valid flag
           }
-        SPI_RXState  = SPI_SYNC1; // reset state sync
-      }
+          SPI_RXState  = SPI_SYNC1; // reset state sync
-    else // not all bytes transfered
-      {
+    } else { // not all bytes transfered
-        rxchksum += rxdata; // update checksum
+          rxchksum += rxdata; // update checksum
+    }
     break;
   }// eof switch(SPI_RXState)
-  // if still some bytes left for transmission to NaviCtrl
-  if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN)
+  // if still some bytes left for transmission to NaviCtrl
   if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) {
       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_TxBuffer[SPI_TxBufferIndex]; // transmit byte
-      ToNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent
+      toNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent
       SPI_TxBufferIndex++;
     } else {

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/spi.c - Rev 1645 → 1775