Subversion Repositories FlightCtrl

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


struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
struct str_ToNaviCtrl_Value   ToNaviCtrl_Value;
struct str_FromNaviCtrl_Value   FromNaviCtrl_Value;

unsigned char              SPI_BufferIndex;
unsigned char              SPI_RxBufferIndex;

volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl_Value)];
unsigned char *SPI_TX_Buffer, *ToNaviCtrl_Chksum;

unsigned char SPITransferCompleted, SPI_ChkSum;
#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;  // SPI2X
 
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
  SPITransferCompleted = 1;
 
  //SPDR = 0x00;  // dummy write
 
  ToNaviCtrl_Value.Sync1 = 0x81;
  ToNaviCtrl_Value.Sync2 = 0x55;
 
  ToNaviCtrl_Value.Command = SPI_CMD_VALUE;
  ToNaviCtrl_Value.IntegralNick = 12345;
  ToNaviCtrl_Value.IntegralRoll = 56789;
  ToNaviCtrl_Value.StickNick = 100;
  ToNaviCtrl_Value.StickRoll = 150;//(char) StickRoll;
  ToNaviCtrl_Value.StickGier = 200;//(char) StickGier;
 
}

//------------------------------------------------------
void SPI_StartTransmitPacket(unsigned char command)
{
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
   if (!SPITransferCompleted) return;
   //if (!(SPSR & (1 << SPIF))) return;
   _delay_us(30);
   
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
   
   switch(command)
   {
     case SPI_CMD_VERSION: SPI_TX_Buffer  = (unsigned char *) &ToNaviCtrl_Version;
                                                   ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Version.Chksum;
            break;       
       
         case SPI_CMD_VALUE: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Value;
                             ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Value.Chksum;
            break;

   }
   
   
   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");
   SPDR = ToNaviCtrl_Value.Sync1;                  // Start transmission
   *ToNaviCtrl_Chksum = ToNaviCtrl_Value.Sync1;
//     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;
   
  _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_Value))
                   {  
                         
                if (rxdata == rxchksum)
                        {
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl_Value;
     
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
                         
                          DebugOut.Analog[20]++;
                        }
                        else DebugOut.Analog[21]++;
                       
                        SPI_RXState  = 0;  
                   }
                  else rxchksum += rxdata;
        break;   
         
  }            
 
   if (SPI_BufferIndex < sizeof(ToNaviCtrl_Value))  
     {
           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;
  cli();
  ToNaviCtrl_Value.Command = SPI_CMD_VALUE;
  ToNaviCtrl_Value.IntegralNick = (int) ( IntegralNick / 1024);
  ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024);
  ToNaviCtrl_Value.StickNick = 4;
  ToNaviCtrl_Value.StickRoll = 5;//(char) StickRoll;
  ToNaviCtrl_Value.StickGier = 6;//(char) StickGier;
  ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
  ToNaviCtrl_Value.User1 = EE_Parameter.UserParam1;
  ToNaviCtrl_Value.User2 = EE_Parameter.UserParam2;
  ToNaviCtrl_Value.User3 = EE_Parameter.UserParam3;
  ToNaviCtrl_Value.User4 = EE_Parameter.UserParam4;
  ToNaviCtrl_Value.User5 = EE_Parameter.UserParam5;
  ToNaviCtrl_Value.User6 = EE_Parameter.UserParam6;
  ToNaviCtrl_Value.User7 = EE_Parameter.UserParam7;
  ToNaviCtrl_Value.User8 = EE_Parameter.UserParam8;
  sei();
 
  DebugOut.Analog[30] = FromNaviCtrl_Value.GPS_Nick;
  DebugOut.Analog[31] = FromNaviCtrl_Value.GPS_Roll;
  KompassValue = FromNaviCtrl_Value.CompassValue;
  KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
}

#endif