void qr_code_spi_link_periodic(void)
{
if (qr_code_spi_data_available) {
qr_code_spi_data_available = FALSE;
uint16_t x, y;
memcpy(&x, qr_code_spi_link_transaction.input_buf, 2);
memcpy(&y, qr_code_spi_link_transaction.input_buf + 2, 2);
DOWNLINK_SEND_VISUALTARGET(DefaultChannel, DefaultDevice, &x, &y);
spi_slave_register(&spi1, &qr_code_spi_link_transaction);
}
}
void link_mcu_init(void) {
link_mcu_trans.cpol = SPICpolIdleLow;
link_mcu_trans.cpha = SPICphaEdge2;
link_mcu_trans.dss = SPIDss8bit;
link_mcu_trans.input_buf = (uint8_t*)&link_mcu_from_ap_msg;
link_mcu_trans.output_buf = (uint8_t*)&link_mcu_from_fbw_msg;
link_mcu_trans.input_length = LINK_MCU_FRAME_LENGTH;
link_mcu_trans.output_length = LINK_MCU_FRAME_LENGTH;
spi_slave_register(&(LINK_MCU_SPI_DEV), &link_mcu_trans);
}
void bluegiga_init(struct bluegiga_periph *p)
{
#ifdef MODEM_LED
LED_INIT(MODEM_LED);
#endif
// configure the SPI bus
bluegiga_spi.input_buf = p->work_rx;
bluegiga_spi.output_buf = p->work_tx;
bluegiga_spi.input_length = 20;
bluegiga_spi.output_length = 20;
bluegiga_spi.slave_idx = 0; // Not used for SPI-Slave: always NSS pin
bluegiga_spi.select = SPISelectUnselect;
bluegiga_spi.cpol = SPICpolIdleHigh;
bluegiga_spi.cpha = SPICphaEdge2;
bluegiga_spi.dss = SPIDss8bit;
bluegiga_spi.bitorder = SPIMSBFirst;
bluegiga_spi.cdiv = SPIDiv64;
bluegiga_spi.after_cb = (SPICallback) trans_cb;
// Configure generic link device
p->device.periph = (void *)(p);
p->device.check_free_space = (check_free_space_t) dev_check_free_space;
p->device.put_byte = (put_byte_t) dev_put_byte;
p->device.send_message = (send_message_t) dev_send_message;
p->device.char_available = (char_available_t) dev_char_available;
p->device.get_byte = (get_byte_t) dev_get_byte;
// initialize peripheral variables
p->rx_insert_idx = 0;
p->rx_extract_idx = 0;
p->tx_insert_idx = 0;
p->tx_extract_idx = 0;
for (int i = 0; i < bluegiga_spi.input_length; i++) {
p->work_rx[i] = 0;
}
for (int i = 0; i < bluegiga_spi.output_length; i++) {
p->work_tx[i] = 0;
}
for (int i = 0; i < 255; i++) {
bluegiga_rssi[i] = 127;
}
// set DRDY interrupt pin for spi master triggered on falling edge
gpio_setup_output(BLUEGIGA_DRDY_GPIO, BLUEGIGA_DRDY_GPIO_PIN);
gpio_set(BLUEGIGA_DRDY_GPIO, BLUEGIGA_DRDY_GPIO_PIN);
// register spi slave read for transaction
spi_slave_register(&(BLUEGIGA_SPI_DEV), &bluegiga_spi);
coms_status = BLUEGIGA_UNINIT;
}
void qr_code_spi_link_init(void)
{
qr_code_spi_link_transaction.cpol = SPICpolIdleHigh;
qr_code_spi_link_transaction.cpha = SPICphaEdge2;
qr_code_spi_link_transaction.dss = SPIDss8bit;
qr_code_spi_link_transaction.bitorder = SPIMSBFirst;
qr_code_spi_link_transaction.output_length = 3;
qr_code_spi_link_transaction.output_buf = testDataOut;
qr_code_spi_link_transaction.input_length = 3;
qr_code_spi_link_transaction.input_buf = testDataIn;
qr_code_spi_link_transaction.after_cb = qr_code_spi_link_trans_cb;
//spi_slave_set_config(&spi1, &qr_code_spi_link_transaction);
spi_slave_register(&spi1, &qr_code_spi_link_transaction);
}
/* read data from dma if available, set as call back of successful spi exchange */
void bluegiga_receive(struct spi_transaction *trans)
{
if (trans->status == SPITransSuccess) {
if (coms_status == BLUEGIGA_SENDING) {
// Handle successful sent message
for (uint8_t i = 0; i < trans->output_length; i++) { // Clear tx buffer
trans->output_buf[i] = 0;
}
}
uint8_t packet_len = trans->input_buf[3]; // length of transmitted message
if (packet_len > trans->input_length) {
// Direct message from Bluegiga
// int k_rssi, i;
switch (packet_len) {
case 0xff: // Connection lost with ground station!
#ifdef MODEM_LED
LED_OFF(MODEM_LED);
#endif
coms_status = BLUEGIGA_UNINIT;
gpio_set(BLUEGIGA_DRDY_GPIO, BLUEGIGA_DRDY_GPIO_PIN); // Reset interrupt pin
break;
/*case 0xfe: // rssi data
k_rssi = trans->input_buf[2];
for (i = 0; i < k_rssi; i++) {
bluegiga_rssi[i] = trans->input_buf[3 + i];
}
break;*/
case 0xfd: // interrupt handled on bluegiga
gpio_set(BLUEGIGA_DRDY_GPIO, BLUEGIGA_DRDY_GPIO_PIN); // Reset interrupt pin
// fetch scan status
if (trans->input_buf[2] == 1) {
coms_status = BLUEGIGA_SCANNING;
} else {
coms_status = BLUEGIGA_UNINIT;
}
break;
default:
break;
}
}
// handle incoming datalink message
else if (packet_len > 0) {
bluegiga_rssi[trans->input_buf[1]] = trans->input_buf[2];
// Handle received message
for (uint8_t i = 0; i < packet_len; i++) {
bluegiga_p.rx_buf[(bluegiga_p.rx_insert_idx + i) % BLUEGIGA_BUFFER_SIZE] = trans->input_buf[i + 4];
}
bluegiga_increment_buf(&bluegiga_p.rx_insert_idx, packet_len);
coms_status = BLUEGIGA_IDLE;
} else {
coms_status = BLUEGIGA_IDLE;
}
// clear rx buffer
for (uint8_t i = 0; i < trans->input_length; i++) {
trans->input_buf[i] = 0;
}
// register spi slave read for next transaction
spi_slave_register(&(BLUEGIGA_SPI_DEV), &bluegiga_spi);
}
}
