WebSVN - FlightCtrl - Rev 1865 - /branches/V0.84a_ACC-HH_HR

// ######################## SPI - FlightCtrl ###################
#include "main.h"
#include "eeprom.h"

//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 NC_Version;
struct str_GPSInfo GPSInfo;

unsigned char SPI_BufferIndex;
unsigned char SPI_RxBufferIndex;
signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0;

volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)];
unsigned char *SPI_TX_Buffer;

unsigned char SPITransferCompleted, SPI_ChkSum;
unsigned char SPI_RxDataValid,NaviDataOkay = 250;

unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU};
unsigned char SPI_CommandCounter = 0;
unsigned char NC_ErrorCode = 0;
signed int POI_KameraNick = 0; // in 0,1°
vector16_t MagVec = {0,0,0};

#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_FCCMD_USER;
ToNaviCtrl.IntegralNick = 0;
ToNaviCtrl.IntegralRoll = 0;
FromNaviCtrl_Value.SerialDataOkay = 0;
SPI_RxDataValid = 0;

}

//------------------------------------------------------
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;
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;
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)
{
signed int tmp;
ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
// ToNaviCtrl.User8 = Parameter_UserParam8;
// ToNaviCtrl.CalState = WinkelOut.CalcState;
switch(ToNaviCtrl.Command) //
{
case SPI_FCCMD_USER:
ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
ToNaviCtrl.Param.Byte[8] = FC_StatusFlags;
FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START);
ToNaviCtrl.Param.Byte[9] = GetActiveParamSet();
ToNaviCtrl.Param.Byte[10] = ControlHeading;
ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;
break;

case SPI_FCCMD_ACCU:
ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V
ToNaviCtrl.Param.Byte[6] = VarioCharacter;
break;

case SPI_FCCMD_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;
ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
break;

case SPI_FCCMD_STICK:
cli();
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[2] = (char) tmp;
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
sei();
ToNaviCtrl.Param.Byte[3] = (char) tmp;
ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
break;
case SPI_FCCMD_MISC:
if(WinkelOut.CalcState > 5)
{
WinkelOut.CalcState = 0;
ToNaviCtrl.Param.Byte[0] = 5;
}
else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5);
ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0];
ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
break;
case SPI_FCCMD_VERSION:
ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0];
ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1];
ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2];
ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3];
ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4];
break;
case SPI_FCCMD_SERVOS:
ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control
ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
break;
}

if(SPI_RxDataValid)
{
NaviDataOkay = 250;
CalculateCompassTimer = 1;
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;
}

// update compass readings
MagVec.x = FromNaviCtrl.MagVecX;
MagVec.y = FromNaviCtrl.MagVecY;
MagVec.z = FromNaviCtrl.MagVecZ;

if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;
KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;

if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime;

switch (FromNaviCtrl.Command)
{
case SPI_NCCMD_KALMAN:
FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0)
{
KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
}
POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel
break;
case SPI_NCCMD_VERSION:
NC_Version.Major = FromNaviCtrl.Param.Byte[0];
NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5];
NC_ErrorCode = FromNaviCtrl.Param.Byte[6];
DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08));
break;

case SPI_NCCMD_GPSINFO:
GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value
FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9];
FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm
DebugOut.Analog[25] = FromNC_AltitudeSpeed;
break;
// 0 = 0,1
// 1 = 2,3
// 2 = 4,5
// 3 = 6,7
// 4 = 8,9
// 5 = 10,11
default:
break;
}
}
else
{
// KompassValue = 0;
// KompassRichtung = 0;
GPS_Nick = 0;
GPS_Roll = 0;
}
}

#endif

Subversion Repositories FlightCtrl

(root)/branches/V0.84a_ACC-HH_HR_MartinR/spi.c - Rev 1865