Subversion Repositories FlightCtrl

// ######################## SPI - FlightCtrl ###################

#include "main.h"

#include "spi.h"

struct str_ToNaviCtrl      ToNaviCtrl;

struct str_FromNaviCtrl    FromNaviCtrl;

unsigned char              SPI_BufferIndex;

volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];

unsigned char *Ptr_buffer = (unsigned char *) &ToNaviCtrl;

unsigned char SPITransferCompleted, SPI_ChkSum;

#ifdef USE_SPI_COMMUNICATION

//------------------------------------------------------

void SPI_MasterInit(void)

{

  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);

  SPITransferCompleted = 1;

  ToNaviCtrl.Sync1 = 0x81;

  ToNaviCtrl.Sync2 = 0x55;

  ToNaviCtrl.Comp = 12;

  ToNaviCtrl.IntegralPitch = 12345;

  ToNaviCtrl.IntegralRoll = 56789;

  ToNaviCtrl.StickPitch = 100;

  ToNaviCtrl.StickRoll = 150;//(char) StickRoll;

  ToNaviCtrl.StickYaw = 200;//(char) StickYaw;

}

//------------------------------------------------------

void SPI_StartTransmitPacket(void)

{

   //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]++;

   // -- Debug-Output ---

/*         DebugOut.Analog[20] = FromNaviCtrl.Comp;

       DebugOut.Analog[21] = FromNaviCtrl.GPS_Pitch;

       DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll;

       DebugOut.Analog[23] = FromNaviCtrl.CompassHeading;

*/

   //----

   SPDR = ToNaviCtrl.Sync1;                  // Start transmission

   ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1;

}

//------------------------------------------------------

//SIGNAL(SIG_SPI)

void SPI_TransmitByte(void)

{

   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 < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex];

        //if(SPDR!= 0x00) DebugOut.Analog[19]++; ;

          }

   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];

         }

   else

     {

           unsigned char *ptr = (unsigned char *)&FromNaviCtrl;

       SPITransferCompleted = 1;

       memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));

         }

         SPI_BufferIndex++;

}

//------------------------------------------------------

void UpdateSPI_Buffer(void)

{

  /*static unsigned char i =0;

  cli();

  ToNaviCtrl.Comp = SPI_PROTOCOL_COMP;

  ToNaviCtrl.IntegralPitch = (int) (IntegralPitch >> 4);

  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4);

  ToNaviCtrl.StickPitch = 4;

  ToNaviCtrl.StickRoll = 5;//(char) StickRoll;

  ToNaviCtrl.StickYaw = 6;//(char) StickYaw;

  sei();

  */

}

#endif