Subversion Repositories FlightCtrl

Compare Revisions

Ignore whitespace Rev 684 → Rev 685

/branches/V0.68d Code Redesign killagreg/spi.c
1,5 → 1,6
// ######################## SPI - FlightCtrl ###################
#include "main.h"
#include "spi.h"
 
 
struct str_ToNaviCtrl ToNaviCtrl;
13,16 → 14,16
//------------------------------------------------------
void SPI_MasterInit(void)
{
DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input
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<<SPIE); // Enable SPI, Master, set clock rate fck/64
SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT);
 
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT);
SPITransferCompleted = 1;
 
ToNaviCtrl.Sync1 = 0x81;
ToNaviCtrl.Sync2 = 0x55;
 
ToNaviCtrl.Comp = 12;
ToNaviCtrl.IntegralNick = 12345;
ToNaviCtrl.IntegralRoll = 56789;
29,7 → 30,7
ToNaviCtrl.StickNick = 100;
ToNaviCtrl.StickRoll = 150;//(char) StickRoll;
ToNaviCtrl.StickGier = 200;//(char) StickGier;
 
}
 
//------------------------------------------------------
37,21 → 38,21
{
//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed
if (!SPITransferCompleted) return;
 
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
 
SPITransferCompleted = 0;
UpdateSPI_Buffer(); // update buffer
SPI_BufferIndex = 1;
DebugOut.Analog[16]++;
DebugOut.Analog[16]++;
// -- Debug-Output ---
/* DebugOut.Analog[20] = FromNaviCtrl.Comp;
DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick;
DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll;
DebugOut.Analog[23] = FromNaviCtrl.CompassValue;
*/
*/
//----
SPDR = ToNaviCtrl.Sync1; // Start transmission
SPDR = ToNaviCtrl.Sync1; // Start transmission
ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1;
}
 
61,24 → 62,24
{
if (!(SPSR & (1 << SPIF))) return;
SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave
if (SPI_BufferIndex < sizeof(FromNaviCtrl))
{
SPI_Buffer[SPI_BufferIndex]= SPDR; // get data
 
if (SPI_BufferIndex < sizeof(FromNaviCtrl))
{
SPI_Buffer[SPI_BufferIndex]= SPDR; // get data
 
// if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex];
//if(SPDR!= 0x00) DebugOut.Analog[19]++; ;
 
//if(SPDR!= 0x00) DebugOut.Analog[19]++; ;
}
if (SPI_BufferIndex < sizeof(ToNaviCtrl))
{
 
if (SPI_BufferIndex < sizeof(ToNaviCtrl))
{
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
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");
 
SPDR = Ptr_buffer[SPI_BufferIndex];
ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex];
}
85,11 → 86,11
else
{
unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
SPITransferCompleted = 1;
 
SPITransferCompleted = 1;
memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));
}
 
SPI_BufferIndex++;
}