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Rev 597 Rev 606
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struct str_ToNaviCtrl      ToNaviCtrl;
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struct str_ToNaviCtrl      ToNaviCtrl;
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struct str_FromNaviCtrl    FromNaviCtrl;
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struct str_FromNaviCtrl    FromNaviCtrl;
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unsigned char              SPI_BufferIndex;
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unsigned char              SPI_BufferIndex;
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volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
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volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
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unsigned char *Ptr_buffer = (unsigned char *) &ToNaviCtrl;
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unsigned char *Ptr_buffer = (unsigned char *) &ToNaviCtrl;
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unsigned char SPITransferCompleted;
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#ifdef USE_SPI_COMMUNICATION
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#ifdef USE_SPI_COMMUNICATION
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//------------------------------------------------------
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//------------------------------------------------------
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void SPI_MasterInit(void)
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void SPI_MasterInit(void)
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{
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{
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  DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK);    // Set MOSI and SCK output, all others input
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  DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK);    // Set MOSI and SCK output, all others input
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  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
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  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
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  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64
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  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64
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  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
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  SPITransferCompleted = 1;
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  ToNaviCtrl.Sync1 = 0x81;
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  ToNaviCtrl.Sync2 = 0x55;
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  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
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}
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}
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//------------------------------------------------------
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//------------------------------------------------------
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void SPI_StartTransmitPacket(void)
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void SPI_StartTransmitPacket(void)
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{
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{
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   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
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   if (!SPITransferCompleted) return;
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   if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
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   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
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   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
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   SPITransferCompleted = 0;
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   UpdateSPI_Buffer();                              // update buffer
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   UpdateSPI_Buffer();                              // update buffer
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   SPI_BufferIndex = 1;
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   SPI_BufferIndex = 1;
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   DebugOut.Analog[16]++;
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   DebugOut.Analog[16]++;
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   // -- Debug-Output ---
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   // -- Debug-Output ---
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/*         DebugOut.Analog[20] = FromNaviCtrl.Comp;
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/*         DebugOut.Analog[20] = FromNaviCtrl.Comp;
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       DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick;
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       DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick;
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       DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll;
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       DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll;
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       DebugOut.Analog[23] = FromNaviCtrl.CompassValue;
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       DebugOut.Analog[23] = FromNaviCtrl.CompassValue;
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*/  
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*/  
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   //----
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   //----
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   SPDR = ToNaviCtrl.Comp;                  // Start transmission
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   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
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}
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}
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//------------------------------------------------------
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//------------------------------------------------------
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//SIGNAL(SIG_SPI)
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//SIGNAL(SIG_SPI)
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void SPI_TransmitByte(void)
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void SPI_TransmitByte(void)
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{
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   if (!(SPSR & (1 << SPIF))) return;
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{
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  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
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   if (!(SPSR & (1 << SPIF))) return;
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          if (SPI_BufferIndex < sizeof(FromNaviCtrl))
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          if (SPI_BufferIndex < sizeof(FromNaviCtrl))
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      {
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      { SPI_Buffer[SPI_BufferIndex]= SPDR;             // get data
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            SPI_Buffer[SPI_BufferIndex]= SPDR;             // get data
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//              if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex];
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        //if(SPDR!= 0x00) DebugOut.Analog[19]++; ;            
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          }
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//              if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex];
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 - 
 
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        //if(SPDR!= 0x00) DebugOut.Analog[19]++; ;            
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   if (SPI_BufferIndex < sizeof(ToNaviCtrl))  
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          }
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     {
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           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
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   if (SPI_BufferIndex < sizeof(ToNaviCtrl))  
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           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
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     { SPDR = Ptr_buffer[SPI_BufferIndex];
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           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
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           SPDR = Ptr_buffer[SPI_BufferIndex];
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         }
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         }
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   else
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   else
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     {
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     {
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           unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
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           unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
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       SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
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       SPITransferCompleted = 1;  
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       memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
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       memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
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         }
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         }
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         SPI_BufferIndex++;
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         SPI_BufferIndex++;
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}
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}
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//------------------------------------------------------
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//------------------------------------------------------
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void UpdateSPI_Buffer(void)
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void UpdateSPI_Buffer(void)
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{
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{
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  static unsigned char i =0;
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  cli();
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  cli();