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| Rev 205 | Rev 206 | ||
|---|---|---|---|
| Line 21... | Line 21... | ||
| 21 | //############################################################################ |
21 | //############################################################################ |
| 22 | { |
22 | { |
| 23 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1); |
23 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1); |
| 24 | SPSR = (1<<SPI2X); |
24 | SPSR = (1<<SPI2X); |
| 25 | DDRB |= (1<<PB2)|(1<<PB7)|(1<<PB5); // J8, SCK, MOSI Ausgang (MicroMag3) |
25 | DDRB |= (1<<PB2)|(1<<PB7)|(1<<PB5); // J8, SCK, MOSI Ausgang (MicroMag3) |
| 26 | DDRD |= (1<PD3); |
- | |
| 27 | PORTD &= ~(1<<PD3); |
- | |
| 28 | 26 | ||
| 29 | MM3.AXIS = MM3_X; |
27 | MM3.AXIS = MM3_X; |
| 30 | MM3.STATE = MM3_RESET; |
28 | MM3.STATE = MM3_RESET; |
| 31 | } |
29 | } |
| Line 44... | Line 42... | ||
| 44 | break; |
42 | break; |
| Line 45... | Line 43... | ||
| 45 | 43 | ||
| 46 | case MM3_START_TRANSFER: |
44 | case MM3_START_TRANSFER: |
| Line 47... | Line 45... | ||
| 47 | PORTB &= ~(1<<PB2); // J8 auf Low |
45 | PORTB &= ~(1<<PB2); // J8 auf Low |
| 48 | 46 | ||
| 49 | if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
47 | if (MM3.AXIS == MM3_X) SPDR = 0x41; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
| 50 | else if (MM3.AXIS == MM3_Y) SPDR = 0x52; |
48 | else if (MM3.AXIS == MM3_Y) SPDR = 0x42; |
| Line 51... | Line 49... | ||
| 51 | else if (MM3.AXIS == MM3_Z) SPDR = 0x53; |
49 | else if (MM3.AXIS == MM3_Z) SPDR = 0x43; |
| 52 | else {MM3.STATE == MM3_IDLE;break;} |
50 | else {MM3.STATE == MM3_IDLE;break;} |
| 53 | 51 | ||
| Line 54... | Line 52... | ||
| 54 | MM3.DRDY = SetDelay(16); |
52 | MM3.DRDY = SetDelay(8); |
| 55 | MM3.STATE = MM3_WAIT_DRDY; |
53 | MM3.STATE = MM3_WAIT_DRDY; |
| Line 67... | Line 65... | ||
| 67 | 65 | ||
| 68 | //############################################################################ |
66 | //############################################################################ |
| 69 | //SPI byte ready |
67 | //SPI byte ready |
| 70 | SIGNAL (SIG_SPI) |
68 | SIGNAL (SIG_SPI) |
| 71 | //############################################################################ |
69 | //############################################################################ |
| 72 | { |
- | |
| 73 | if (!(SPCR & (1<<MSTR))) |
- | |
| 74 | { |
- | |
| 75 | SPCR |= (1<<MSTR); |
- | |
| 76 | } |
- | |
| 77 | 70 | { |
|
| 78 | switch (MM3.STATE) |
71 | switch (MM3.STATE) |
| 79 | { |
72 | { |
| 80 | case MM3_DRDY: |
73 | case MM3_DRDY: |
| 81 | if (MM3.AXIS == MM3_X) {MM3.x_axis=SPDR; MM3.x_axis<<=8; SPDR=0x00; MM3.STATE=MM3_X_BYTE2; break;} |
74 | if (MM3.AXIS == MM3_X) {MM3.x_axis=SPDR; MM3.x_axis<<=8; SPDR=0x00; MM3.STATE=MM3_X_BYTE2; break;} |