Subversion Repositories FlightCtrl

Rev

Go to most recent revision | Details | Last modification | View Log | RSS feed

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