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Line 72... Line 72...
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#define SPI_RXSYNCBYTE1 0xAA
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#define SPI_RXSYNCBYTE1 0xAA
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#define SPI_RXSYNCBYTE2 0x83
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#define SPI_RXSYNCBYTE2 0x83
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#define SPI_TXSYNCBYTE1 0x81
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#define SPI_TXSYNCBYTE1 0x81
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#define SPI_TXSYNCBYTE2 0x55
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#define SPI_TXSYNCBYTE2 0x55
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typedef enum
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{
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        SPI_SYNC1,
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        SPI_SYNC2,
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        SPI_DATA
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} SPI_State_t;
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//communication packets
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//communication packets
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volatile FromFlightCtrl_t   FromFlightCtrl;
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volatile FromFlightCtrl_t   FromFlightCtrl;
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volatile ToFlightCtrl_t     ToFlightCtrl;
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volatile ToFlightCtrl_t     ToFlightCtrl;
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#define SPI0_TIMEOUT 500 // 500ms
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#define SPI0_TIMEOUT 500 // 500ms
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//--------------------------------------------------------------
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//--------------------------------------------------------------
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void SSP0_IRQHandler(void)
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void SSP0_IRQHandler(void)
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{
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{
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        static u8 rxchksum = 0;
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        static u8 rxchksum = 0;
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        u8 rxdata;
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        u8 rxdata;
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        #define SPI_SYNC1       0
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        #define SPI_SYNC2       1
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        #define SPI_DATA        2
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        static SPI_State_t SPI_State = SPI_SYNC1;
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        static u8 SPI_State = SPI_SYNC1;
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        // clear pending bits
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        // clear pending bits
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        SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
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        SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
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        SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo);
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        /*
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        // Fill TxFIFO while its not full or end of packet is reached
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        while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
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        SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo);
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        {
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                if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN)   // still data to send ?
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                {
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                        SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex];       // send a byte
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                        *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
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                        SPI_TxBufferIndex++;  // pointer to next byte
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                }
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                else // TxBuffer end is reached then reset and copy data to tx buffer
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                {
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                        SPI_TxBufferIndex = 0;   // reset buffer index
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                        ToFlightCtrl.Chksum = 0;  // initialize checksum
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                        ToFlightCtrl.BeepTime = BeepTime; // set beeptime
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                        BeepTime = 0; // reset local beeptime
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                        // copy contents of ToFlightCtrl->SPI_TxBuffer
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                        memcpy( (u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl));
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                }
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        }
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        */
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        // while RxFIFO not empty
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        // while RxFIFO not empty
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        while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
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        while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
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        {
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        {
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                rxdata =  SSP0->DR; // catch the received byte
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                rxdata =  SSP0->DR; // catch the received byte
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        SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
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        SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
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        SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
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        SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
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        SSP_InitStructure.SSP_ClockRate = 0;
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        SSP_InitStructure.SSP_ClockRate = 0;
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        SSP_Init(SSP0, &SSP_InitStructure);
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        //SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE);
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        SSP_Init(SSP0, &SSP_InitStructure);
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        SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE);
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        SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE);
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        fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue));
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        fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue));
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 247 
 
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        SSP_Cmd(SSP0, ENABLE);
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        SSP_Cmd(SSP0, ENABLE);
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        if (SPI_RxBuffer_Request)
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        if (SPI_RxBuffer_Request)
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        {
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        {
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                // avoid sending data via SPI during the update of the  ToFlightCtrl structure
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                // avoid sending data via SPI during the update of the  ToFlightCtrl structure
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                VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
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                VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
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                ToFlightCtrl.CompassHeading = I2C_Heading.Heading;
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                ToFlightCtrl.CompassHeading = I2C_Heading.Heading;
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                DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
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                ToFlightCtrl.GPS_Nick   = GPS_Stick.Nick;
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                ToFlightCtrl.GPS_Nick   = GPS_Stick.Nick;
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                ToFlightCtrl.GPS_Roll   = GPS_Stick.Roll;
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                ToFlightCtrl.GPS_Roll   = GPS_Stick.Roll;
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                ToFlightCtrl.GPS_Yaw    = GPS_Stick.Yaw;
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                ToFlightCtrl.GPS_Yaw    = GPS_Stick.Yaw;
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                // cycle spi commands
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                // cycle spi commands