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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 758 | walter | 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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| 10 | |||
| 11 | unsigned char SPITransferCompleted, SPI_ChkSum; |
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| 12 | #ifdef USE_SPI_COMMUNICATION |
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| 13 | //------------------------------------------------------ |
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| 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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| 21 | SPITransferCompleted = 1; |
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| 22 | |||
| 23 | ToNaviCtrl.Sync1 = 0x81; |
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| 24 | ToNaviCtrl.Sync2 = 0x55; |
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| 25 | |||
| 26 | ToNaviCtrl.Comp = 12; |
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| 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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| 32 | |||
| 33 | } |
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| 34 | |||
| 35 | //------------------------------------------------------ |
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| 36 | void SPI_StartTransmitPacket(void) |
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| 37 | { |
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| 38 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
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| 39 | if (!SPITransferCompleted) return; |
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| 40 | |||
| 41 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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| 42 | |||
| 43 | SPITransferCompleted = 0; |
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| 44 | UpdateSPI_Buffer(); // update buffer |
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| 45 | SPI_BufferIndex = 1; |
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| 46 | DebugOut.Analog[16]++; |
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| 47 | // -- Debug-Output --- |
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| 48 | /* DebugOut.Analog[20] = FromNaviCtrl.Comp; |
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| 49 | DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick; |
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| 50 | DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll; |
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| 51 | DebugOut.Analog[23] = FromNaviCtrl.CompassValue; |
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| 52 | */ |
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| 53 | //---- |
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| 54 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
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| 55 | ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1; |
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| 56 | } |
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| 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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| 63 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
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| 64 | |||
| 65 | if (SPI_BufferIndex < sizeof(FromNaviCtrl)) |
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| 66 | { |
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| 67 | SPI_Buffer[SPI_BufferIndex]= SPDR; // get data |
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| 68 | |||
| 69 | // if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex]; |
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| 70 | |||
| 71 | //if(SPDR!= 0x00) DebugOut.Analog[19]++; ; |
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| 72 | } |
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| 73 | |||
| 74 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
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| 75 | { |
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| 76 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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| 77 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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| 78 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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| 79 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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| 80 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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| 81 | |||
| 82 | SPDR = Ptr_buffer[SPI_BufferIndex]; |
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| 83 | ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex]; |
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| 84 | } |
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| 85 | else |
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| 86 | { |
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| 87 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
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| 88 | |||
| 89 | SPITransferCompleted = 1; |
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| 90 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
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| 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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| 99 | /*static unsigned char i =0; |
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| 100 | cli(); |
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| 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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| 104 | ToNaviCtrl.StickNick = 4; |
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| 105 | ToNaviCtrl.StickRoll = 5;//(char) StickRoll; |
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| 106 | ToNaviCtrl.StickGier = 6;//(char) StickGier; |
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| 107 | sei(); |
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| 108 | */ |
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| 109 | } |
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| 110 | |||
| 111 | #endif |
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| 112 | |||
| 113 |