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Rev | Author | Line No. | Line |
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304 | ingob | 1 | // ######################## SPI - FlightCtrl ################### |
2 | #include "main.h" |
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3 | |||
4 | |||
5 | struct str_ToNaviCtrl ToNaviCtrl; |
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6 | struct str_FromNaviCtrl FromNaviCtrl; |
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7 | unsigned char SPI_BufferIndex; |
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8 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
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9 | unsigned char *Ptr_buffer = (unsigned char *) &ToNaviCtrl; |
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606 | ingob | 10 | |
617 | ingob | 11 | unsigned char SPITransferCompleted, SPI_ChkSum; |
597 | ingob | 12 | #ifdef USE_SPI_COMMUNICATION |
304 | ingob | 13 | //------------------------------------------------------ |
14 | void SPI_MasterInit(void) |
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15 | { |
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16 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
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17 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
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18 | |||
19 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
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20 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
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606 | ingob | 21 | SPITransferCompleted = 1; |
22 | |||
23 | ToNaviCtrl.Sync1 = 0x81; |
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24 | ToNaviCtrl.Sync2 = 0x55; |
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25 | |||
617 | ingob | 26 | ToNaviCtrl.Comp = 12; |
27 | ToNaviCtrl.IntegralNick = 12345; |
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28 | ToNaviCtrl.IntegralRoll = 56789; |
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29 | ToNaviCtrl.StickNick = 100; |
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30 | ToNaviCtrl.StickRoll = 150;//(char) StickRoll; |
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31 | ToNaviCtrl.StickGier = 200;//(char) StickGier; |
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606 | ingob | 32 | |
304 | ingob | 33 | } |
34 | |||
35 | //------------------------------------------------------ |
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36 | void SPI_StartTransmitPacket(void) |
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37 | { |
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606 | ingob | 38 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
39 | if (!SPITransferCompleted) return; |
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304 | ingob | 40 | |
41 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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617 | ingob | 42 | |
606 | ingob | 43 | SPITransferCompleted = 0; |
304 | ingob | 44 | UpdateSPI_Buffer(); // update buffer |
45 | SPI_BufferIndex = 1; |
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46 | DebugOut.Analog[16]++; |
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47 | // -- Debug-Output --- |
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596 | ingob | 48 | /* DebugOut.Analog[20] = FromNaviCtrl.Comp; |
304 | ingob | 49 | DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick; |
50 | DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll; |
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51 | DebugOut.Analog[23] = FromNaviCtrl.CompassValue; |
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596 | ingob | 52 | */ |
304 | ingob | 53 | //---- |
606 | ingob | 54 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
617 | ingob | 55 | ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1; |
304 | ingob | 56 | } |
57 | |||
58 | //------------------------------------------------------ |
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59 | //SIGNAL(SIG_SPI) |
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60 | void SPI_TransmitByte(void) |
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61 | { |
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62 | if (!(SPSR & (1 << SPIF))) return; |
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606 | ingob | 63 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
64 | |||
304 | ingob | 65 | if (SPI_BufferIndex < sizeof(FromNaviCtrl)) |
606 | ingob | 66 | { |
67 | SPI_Buffer[SPI_BufferIndex]= SPDR; // get data |
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617 | ingob | 68 | |
596 | ingob | 69 | // if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex]; |
70 | |||
304 | ingob | 71 | //if(SPDR!= 0x00) DebugOut.Analog[19]++; ; |
72 | } |
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73 | |||
74 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
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606 | ingob | 75 | { |
76 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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617 | ingob | 77 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
606 | ingob | 78 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
79 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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617 | ingob | 80 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
81 | |||
606 | ingob | 82 | SPDR = Ptr_buffer[SPI_BufferIndex]; |
617 | ingob | 83 | ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex]; |
606 | ingob | 84 | } |
304 | ingob | 85 | else |
86 | { |
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87 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
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596 | ingob | 88 | |
606 | ingob | 89 | SPITransferCompleted = 1; |
304 | ingob | 90 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
91 | } |
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92 | |||
93 | SPI_BufferIndex++; |
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94 | } |
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95 | |||
96 | //------------------------------------------------------ |
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97 | void UpdateSPI_Buffer(void) |
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98 | { |
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617 | ingob | 99 | /*static unsigned char i =0; |
304 | ingob | 100 | cli(); |
101 | ToNaviCtrl.Comp = SPI_PROTOCOL_COMP; |
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102 | ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4); |
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103 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4); |
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606 | ingob | 104 | ToNaviCtrl.StickNick = 4; |
105 | ToNaviCtrl.StickRoll = 5;//(char) StickRoll; |
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106 | ToNaviCtrl.StickGier = 6;//(char) StickGier; |
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304 | ingob | 107 | sei(); |
617 | ingob | 108 | */ |
304 | ingob | 109 | } |
110 | |||
597 | ingob | 111 | #endif |
304 | ingob | 112 | |
113 |