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