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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | #include <avr/io.h> |
| 2 | #include <avr/interrupt.h> |
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| 3 | #include <string.h> |
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| 4 | #include <stdlib.h> |
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| 5 | #include "spi.h" |
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| 6 | #include "rc.h" |
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| 7 | #include "eeprom.h" |
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| 8 | #include "timer0.h" |
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| 9 | #include "analog.h" |
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| 10 | #include "attitude.h" |
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| 11 | #include "flight.h" |
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| 12 | |||
| 13 | //----------------------------------------- |
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| 14 | |||
| 15 | // for compatibility reasons gcc3.x <-> gcc4.x |
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| 2035 | - | 16 | // dongfang: Lets try to abandon GCC3. |
| 17 | /* |
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| 1612 | dongfang | 18 | #ifndef SPCR |
| 19 | #define SPCR SPCR0 |
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| 20 | #endif |
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| 21 | #ifndef SPIE |
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| 22 | #define SPIE SPIE0 |
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| 23 | #endif |
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| 24 | #ifndef SPE |
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| 25 | #define SPE SPE0 |
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| 26 | #endif |
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| 27 | #ifndef DORD |
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| 28 | #define DORD DORD0 |
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| 29 | #endif |
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| 30 | #ifndef MSTR |
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| 31 | #define MSTR MSTR0 |
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| 32 | #endif |
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| 33 | #ifndef CPOL |
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| 34 | #define CPOL CPOL0 |
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| 35 | #endif |
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| 36 | #ifndef CPHA |
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| 37 | #define CPHA CPHA0 |
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| 38 | #endif |
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| 39 | #ifndef SPR1 |
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| 40 | #define SPR1 SPR01 |
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| 41 | #endif |
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| 42 | #ifndef SPR0 |
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| 43 | #define SPR0 SPR00 |
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| 44 | #endif |
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| 45 | |||
| 46 | #ifndef SPDR |
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| 47 | #define SPDR SPDR0 |
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| 48 | #endif |
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| 49 | |||
| 50 | #ifndef SPSR |
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| 51 | #define SPSR SPSR0 |
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| 52 | #endif |
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| 53 | #ifndef SPIF |
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| 54 | #define SPIF SPIF0 |
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| 55 | #endif |
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| 56 | #ifndef WCOL |
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| 57 | #define WCOL WCOL0 |
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| 58 | #endif |
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| 1775 | - | 59 | #ifndef SPI2X |
| 1612 | dongfang | 60 | #define SPI2X SPI2X0 |
| 1775 | - | 61 | #endif |
| 2035 | - | 62 | */ |
| 1612 | dongfang | 63 | // ------------------------- |
| 2035 | - | 64 | #define DDR_SPI DDRB |
| 65 | #define DD_SS PB4 |
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| 66 | #define DD_SCK PB7 |
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| 67 | #define DD_MOSI PB5 |
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| 68 | #define DD_MISO PB6 |
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| 1612 | dongfang | 69 | |
| 70 | #define SLAVE_SELECT_DDR_PORT DDRC |
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| 71 | #define SLAVE_SELECT_PORT PORTC |
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| 72 | #define SPI_SLAVE_SELECT PC5 |
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| 73 | |||
| 74 | #define SPI_TXSYNCBYTE1 0xAA |
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| 75 | #define SPI_TXSYNCBYTE2 0x83 |
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| 76 | #define SPI_RXSYNCBYTE1 0x81 |
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| 77 | #define SPI_RXSYNCBYTE2 0x55 |
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| 78 | |||
| 1775 | - | 79 | typedef enum { |
| 1821 | - | 80 | SPI_SYNC1, SPI_SYNC2, SPI_DATA |
| 1775 | - | 81 | } SPI_RXState_t; |
| 1612 | dongfang | 82 | |
| 83 | // data exchange packets to and From NaviCtrl |
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| 1821 | - | 84 | ToNaviCtrl_t toNaviCtrl; |
| 85 | FromNaviCtrl_t fromNaviCtrl; |
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| 86 | SPI_VersionInfo_t SPI_VersionInfo; |
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| 1612 | dongfang | 87 | |
| 88 | // rx packet buffer |
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| 1775 | - | 89 | #define SPI_RXBUFFER_LEN sizeof(fromNaviCtrl) |
| 1612 | dongfang | 90 | uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
| 1821 | - | 91 | uint8_t SPI_RxBufferIndex = 0; |
| 1612 | dongfang | 92 | uint8_t SPI_RxBuffer_Request = 0; |
| 93 | |||
| 94 | // tx packet buffer |
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| 1775 | - | 95 | #define SPI_TXBUFFER_LEN sizeof(toNaviCtrl) |
| 1612 | dongfang | 96 | uint8_t *SPI_TxBuffer; |
| 1821 | - | 97 | uint8_t SPI_TxBufferIndex = 0; |
| 1612 | dongfang | 98 | |
| 99 | uint8_t SPITransferCompleted, SPI_ChkSum; |
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| 100 | uint8_t SPI_RxDataValid = 0; |
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| 101 | uint8_t NCDataOkay = 0; |
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| 102 | uint8_t NCSerialDataOkay = 0; |
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| 103 | |||
| 1821 | - | 104 | uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, |
| 105 | SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
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| 1612 | dongfang | 106 | uint8_t SPI_CommandCounter = 0; |
| 107 | |||
| 108 | /*********************************************/ |
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| 109 | /* Initialize SPI interface to NaviCtrl */ |
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| 110 | /*********************************************/ |
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| 111 | void SPI_MasterInit(void) { |
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| 1821 | - | 112 | DDR_SPI |= (1 << DD_MOSI) | (1 << DD_SCK); // Set MOSI and SCK output, all others input |
| 113 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
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| 114 | |||
| 115 | SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (0 << SPR0) | (0 << SPIE); // Enable SPI, Master, set clock rate fck/64 |
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| 116 | SPSR = 0;//(1<<SPI2X); |
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| 117 | |||
| 118 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave |
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| 119 | |||
| 120 | SPI_TxBuffer = (uint8_t *) &toNaviCtrl; // set pointer to tx-buffer |
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| 121 | SPITransferCompleted = 1; |
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| 122 | // initialize data packet to NaviControl |
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| 2035 | - | 123 | toNaviCtrl.sync1 = SPI_TXSYNCBYTE1; |
| 124 | toNaviCtrl.sync2 = SPI_TXSYNCBYTE2; |
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| 1821 | - | 125 | |
| 2035 | - | 126 | toNaviCtrl.command = SPI_CMD_USER; |
| 127 | toNaviCtrl.integralPitch = 0; |
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| 128 | toNaviCtrl.integralRoll = 0; |
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| 129 | naviCtrlData.serialDataOkay = 0; |
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| 130 | //NCSerialDataOkay = 0; |
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| 131 | //NCDataOkay = 0; |
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| 1821 | - | 132 | |
| 133 | SPI_RxDataValid = 0; |
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| 134 | |||
| 2035 | - | 135 | //SPI_VersionInfo.Major = VERSION_MAJOR; |
| 136 | //SPI_VersionInfo.Minor = VERSION_MINOR; |
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| 137 | //SPI_VersionInfo.Patch = VERSION_PATCH; |
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| 138 | //SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
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| 1612 | dongfang | 139 | } |
| 140 | |||
| 141 | /**********************************************************/ |
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| 2035 | - | 142 | /* Update Data transfered by the SPI from/to NaviCtrl */ |
| 1612 | dongfang | 143 | /**********************************************************/ |
| 2035 | - | 144 | void updateSPI_Buffer(void) { |
| 1821 | - | 145 | uint8_t i; |
| 146 | int16_t tmp; |
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| 147 | cli(); |
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| 148 | // stop all interrupts to avoid writing of new data during update of that packet. |
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| 1775 | - | 149 | |
| 1821 | - | 150 | // update content of packet to NaviCtrl |
| 2035 | - | 151 | // Scaling? |
| 152 | toNaviCtrl.integralPitch = (angle[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1� |
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| 153 | // Scaling? |
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| 154 | toNaviCtrl.integralRoll = (angle[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1� |
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| 155 | // Scaling? |
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| 156 | toNaviCtrl.gyroHeading = (yawGyroHeading / (GYRO_DEG_FACTOR_YAW / 10)); // convert to multiple of 0.1� |
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| 157 | // Scaling? |
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| 158 | toNaviCtrl.gyroPitch = rate_ATT[PITCH]; |
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| 159 | // Scaling? |
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| 160 | toNaviCtrl.gyroRoll = rate_ATT[ROLL]; |
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| 161 | // Scaling? |
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| 162 | toNaviCtrl.gyroYaw = yawRate; |
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| 163 | // Scaling? |
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| 164 | toNaviCtrl.accPitch = getAngleEstimateFromAcc(PITCH) / (GYRO_DEG_FACTOR_PITCHROLL/10); // convert to multiple of 0.1� |
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| 165 | // Scaling? |
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| 166 | toNaviCtrl.AccRoll = getAngleEstimateFromAcc(ROLL) / (GYRO_DEG_FACTOR_PITCHROLL/10); |
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| 1612 | dongfang | 167 | |
| 1821 | - | 168 | // TODO: What are these little bastards? |
| 169 | |||
| 170 | averageAcc[PITCH] = averageAcc[ROLL] = averageAccCount = 0; |
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| 171 | |||
| 2035 | - | 172 | switch (toNaviCtrl.command) { |
| 1821 | - | 173 | case SPI_CMD_USER: |
| 2035 | - | 174 | for (i = 0; i < sizeof(dynamicParams.userParams); i++) { |
| 175 | toNaviCtrl.param.asByte[i] = dynamicParams.userParams[i]; |
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| 1821 | - | 176 | } |
| 177 | toNaviCtrl.Param.Byte[8] = MKFlags; |
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| 178 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting |
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| 2035 | - | 179 | toNaviCtrl.Param.Byte[9] = getActiveParamSet(); |
| 180 | toNaviCtrl.Param.Byte[10] = 10; //EE_Parameter.ComingHomeAltitude; |
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| 181 | toNaviCtrl.Param.Byte[11] = 0; //FC_StatusFlags2; |
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| 1821 | - | 182 | break; |
| 183 | |||
| 184 | case SPI_CMD_PARAMETER1: |
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| 185 | toNaviCtrl.Param.Byte[0] = staticParams.NaviGpsModeControl; // Parameters for the Naviboard |
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| 186 | toNaviCtrl.Param.Byte[1] = staticParams.NaviGpsGain; |
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| 187 | toNaviCtrl.Param.Byte[2] = staticParams.NaviGpsP; |
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| 188 | toNaviCtrl.Param.Byte[3] = staticParams.NaviGpsI; |
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| 189 | toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsD; |
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| 190 | toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsACC; |
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| 191 | toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsMinSat; |
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| 192 | toNaviCtrl.Param.Byte[7] = staticParams.NaviStickThreshold; |
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| 193 | toNaviCtrl.Param.Byte[8] = staticParams.NaviOperatingRadius; |
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| 194 | toNaviCtrl.Param.Byte[9] = staticParams.NaviWindCorrection; |
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| 195 | toNaviCtrl.Param.Byte[10] = staticParams.NaviSpeedCompensation; |
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| 196 | toNaviCtrl.Param.Byte[11] = staticParams.NaviAngleLimitation; |
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| 197 | break; |
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| 198 | |||
| 199 | case SPI_CMD_STICK: |
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| 200 | tmp = PPM_in[staticParams.ChannelAssignment[CH_THROTTLE]]; |
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| 201 | if (tmp > 127) |
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| 202 | tmp = 127; |
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| 203 | else if (tmp < -128) |
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| 204 | tmp = -128; |
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| 205 | toNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
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| 206 | tmp = PPM_in[staticParams.ChannelAssignment[CH_YAW]]; |
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| 207 | if (tmp > 127) |
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| 208 | tmp = 127; |
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| 209 | else if (tmp < -128) |
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| 210 | tmp = -128; |
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| 211 | toNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
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| 212 | tmp = PPM_in[staticParams.ChannelAssignment[CH_ROLL]]; |
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| 213 | if (tmp > 127) |
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| 214 | tmp = 127; |
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| 215 | else if (tmp < -128) |
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| 216 | tmp = -128; |
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| 217 | toNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
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| 218 | tmp = PPM_in[staticParams.ChannelAssignment[CH_PITCH]]; |
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| 219 | if (tmp > 127) |
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| 220 | tmp = 127; |
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| 221 | else if (tmp < -128) |
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| 222 | tmp = -128; |
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| 223 | toNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
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| 224 | toNaviCtrl.Param.Byte[4] = (uint8_t) variables[0]; |
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| 225 | toNaviCtrl.Param.Byte[5] = (uint8_t) variables[1]; |
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| 226 | toNaviCtrl.Param.Byte[6] = (uint8_t) variables[2]; |
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| 227 | toNaviCtrl.Param.Byte[7] = (uint8_t) variables[3]; |
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| 228 | toNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
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| 229 | break; |
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| 230 | |||
| 231 | case SPI_CMD_MISC: |
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| 232 | toNaviCtrl.Param.Byte[0] = compassCalState; |
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| 233 | if (compassCalState > 4) { // jump from 5 to 0 |
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| 234 | compassCalState = 0; |
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| 235 | } |
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| 236 | toNaviCtrl.Param.Byte[1] = staticParams.NaviPHLoginTime; |
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| 237 | // TODO: Height and in the correct scaling... |
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| 238 | toNaviCtrl.Param.Int[1] = 0; //readingHeight; // at address of Byte 2 and 3 |
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| 239 | toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsPLimit; |
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| 240 | toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsILimit; |
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| 241 | toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsDLimit; |
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| 242 | break; |
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| 243 | |||
| 244 | case SPI_CMD_VERSION: |
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| 245 | toNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
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| 246 | toNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
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| 247 | toNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
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| 248 | toNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
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| 2088 | - | 249 | toNaviCtrl.Param.Byte[4] = boardRelease; |
| 1821 | - | 250 | break; |
| 251 | default: |
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| 252 | break; |
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| 253 | } |
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| 254 | |||
| 255 | sei(); |
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| 256 | // enable all interrupts |
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| 257 | |||
| 258 | // analyze content of packet from NaviCtrl if valid |
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| 259 | if (SPI_RxDataValid) { |
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| 260 | // update gps controls |
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| 261 | if (abs(fromNaviCtrl.GPSStickPitch) < 512 && abs(fromNaviCtrl.GPSStickRoll) |
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| 262 | < 512 && (staticParams.GlobalConfig & CFG_GPS_ACTIVE)) { |
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| 263 | GPSStickPitch = fromNaviCtrl.GPSStickPitch; |
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| 264 | GPSStickRoll = fromNaviCtrl.GPSStickRoll; |
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| 265 | NCDataOkay = 250; |
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| 266 | } |
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| 267 | // update compass readings |
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| 268 | if (fromNaviCtrl.CompassHeading <= 360) { |
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| 269 | compassHeading = fromNaviCtrl.CompassHeading; |
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| 270 | } |
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| 271 | //if(compassHeading < 0) compassOffCourse = 0; |
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| 272 | //else compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
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| 273 | // NaviCtrl wants to beep? |
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| 274 | if (fromNaviCtrl.BeepTime > BeepTime && !compassCalState) |
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| 275 | BeepTime = fromNaviCtrl.BeepTime; |
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| 276 | |||
| 277 | switch (fromNaviCtrl.Command) { |
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| 278 | case SPI_KALMAN: |
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| 279 | dynamicParams.KalmanK = fromNaviCtrl.Param.Byte[0]; |
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| 280 | dynamicParams.KalmanMaxFusion = fromNaviCtrl.Param.Byte[1]; |
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| 281 | dynamicParams.KalmanMaxDrift = fromNaviCtrl.Param.Byte[2]; |
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| 282 | NCSerialDataOkay = fromNaviCtrl.Param.Byte[3]; |
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| 283 | break; |
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| 284 | |||
| 285 | default: |
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| 286 | break; |
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| 287 | } |
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| 288 | } else { // no valid data from NaviCtrl |
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| 289 | // disable GPS control |
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| 290 | GPSStickPitch = 0; |
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| 291 | GPSStickRoll = 0; |
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| 292 | } |
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| 1612 | dongfang | 293 | } |
| 294 | |||
| 295 | /*********************************************/ |
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| 296 | /* Start Transmission of packet to NaviCtrl */ |
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| 297 | /*********************************************/ |
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| 1821 | - | 298 | void SPI_StartTransmitPacket(void) { |
| 299 | if (!SPITransferCompleted) |
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| 300 | return; // return immediately if transfer is in progress |
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| 301 | else // transmission was completed |
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| 302 | { |
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| 303 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
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| 304 | |||
| 305 | // cyclic commands |
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| 306 | toNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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| 307 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) |
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| 308 | SPI_CommandCounter = 0; |
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| 309 | |||
| 310 | SPITransferCompleted = 0; // transfer is in progress |
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| 311 | UpdateSPI_Buffer(); // update data in toNaviCtrl |
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| 312 | |||
| 313 | SPI_TxBufferIndex = 1; //proceed with 2nd byte |
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| 314 | |||
| 315 | // -- Debug-Output --- |
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| 316 | //---- |
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| 317 | asm volatile ("nop"); |
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| 318 | asm volatile ("nop"); |
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| 319 | asm volatile ("nop"); |
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| 320 | asm volatile ("nop"); |
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| 321 | asm volatile ("nop"); |
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| 322 | asm volatile ("nop"); |
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| 323 | asm volatile ("nop"); |
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| 324 | asm volatile ("nop"); |
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| 325 | asm volatile ("nop"); |
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| 326 | asm volatile ("nop"); |
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| 327 | asm volatile ("nop"); |
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| 328 | asm volatile ("nop"); |
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| 329 | asm volatile ("nop"); |
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| 330 | asm volatile ("nop"); |
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| 331 | asm volatile ("nop"); |
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| 332 | asm volatile ("nop"); |
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| 333 | asm volatile ("nop"); |
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| 334 | asm volatile ("nop"); |
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| 335 | asm volatile ("nop"); |
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| 336 | asm volatile ("nop"); |
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| 337 | asm volatile ("nop"); |
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| 338 | asm volatile ("nop"); |
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| 339 | asm volatile ("nop"); |
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| 340 | asm volatile ("nop"); |
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| 341 | toNaviCtrl.Chksum = toNaviCtrl.Sync1; // init checksum |
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| 342 | SPDR = toNaviCtrl.Sync1; // send first byte |
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| 343 | } |
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| 1612 | dongfang | 344 | } |
| 345 | |||
| 346 | //------------------------------------------------------ |
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| 347 | // This is the spi data transfer between FlightCtrl and NaviCtrl |
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| 348 | // Every time this routine is called within the mainloop one byte of the packet to |
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| 349 | // the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
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| 350 | |||
| 351 | void SPI_TransmitByte(void) { |
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| 1821 | - | 352 | static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
| 353 | uint8_t rxdata; |
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| 354 | static uint8_t rxchksum; |
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| 355 | |||
| 356 | if (SPITransferCompleted) |
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| 357 | return; // return immediatly if transfer was completed |
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| 358 | if (!(SPSR & (1 << SPIF))) |
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| 359 | return; // return if no SPI-IRQ pending |
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| 360 | SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
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| 361 | |||
| 362 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
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| 363 | |||
| 364 | rxdata = SPDR; // save spi data register |
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| 365 | |||
| 366 | switch (SPI_RXState) { |
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| 367 | case SPI_SYNC1: // first sync byte |
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| 368 | SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
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| 369 | rxchksum = rxdata; // initialize checksum |
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| 370 | if (rxdata == SPI_RXSYNCBYTE1) { // 1st Syncbyte found |
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| 371 | SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
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| 372 | } |
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| 373 | break; |
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| 374 | |||
| 375 | case SPI_SYNC2: // second sync byte |
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| 376 | if (rxdata == SPI_RXSYNCBYTE2) { // 2nd Syncbyte found |
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| 377 | rxchksum += rxdata; // update checksum |
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| 378 | SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
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| 379 | } else // 2nd Syncbyte not found |
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| 380 | { |
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| 381 | SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
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| 382 | } |
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| 383 | break; |
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| 384 | |||
| 385 | case SPI_DATA: // data bytes |
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| 386 | SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
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| 387 | // if all bytes are received of a packet from the NaviCtrl |
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| 388 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) { // last byte transfered is the checksum of the packet |
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| 389 | if (rxdata == rxchksum) { // checksum matching? |
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| 390 | // copy SPI_RxBuffer -> FromFlightCtrl |
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| 391 | uint8_t *ptr = (uint8_t *) &fromNaviCtrl; |
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| 392 | cli(); |
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| 393 | memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(fromNaviCtrl)); |
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| 394 | sei(); |
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| 395 | SPI_RxDataValid = 1; |
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| 396 | } else { // checksum does not match |
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| 397 | SPI_RxDataValid = 0; // reset valid flag |
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| 398 | } |
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| 399 | SPI_RXState = SPI_SYNC1; // reset state sync |
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| 400 | } else { // not all bytes transfered |
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| 401 | rxchksum += rxdata; // update checksum |
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| 402 | } |
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| 403 | break; |
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| 404 | }// eof switch(SPI_RXState) |
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| 405 | |||
| 406 | // if still some bytes left for transmission to NaviCtrl |
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| 407 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) { |
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| 408 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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| 409 | asm volatile ("nop"); |
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| 410 | asm volatile ("nop"); |
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| 411 | asm volatile ("nop"); |
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| 412 | asm volatile ("nop"); |
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| 413 | asm volatile ("nop"); |
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| 414 | asm volatile ("nop"); |
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| 415 | asm volatile ("nop"); |
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| 416 | asm volatile ("nop"); |
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| 417 | asm volatile ("nop"); |
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| 418 | asm volatile ("nop"); |
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| 419 | asm volatile ("nop"); |
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| 420 | asm volatile ("nop"); |
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| 421 | asm volatile ("nop"); |
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| 422 | asm volatile ("nop"); |
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| 423 | asm volatile ("nop"); |
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| 424 | asm volatile ("nop"); |
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| 425 | asm volatile ("nop"); |
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| 426 | asm volatile ("nop"); |
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| 427 | asm volatile ("nop"); |
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| 428 | asm volatile ("nop"); |
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| 429 | asm volatile ("nop"); |
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| 430 | asm volatile ("nop"); |
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| 431 | asm volatile ("nop"); |
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| 432 | asm volatile ("nop"); |
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| 433 | |||
| 434 | SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
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| 435 | toNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
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| 436 | SPI_TxBufferIndex++; |
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| 437 | } else { |
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| 438 | //Transfer of all bytes of the packet to NaviCtrl completed |
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| 439 | SPITransferCompleted = 1; |
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| 440 | } |
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| 1612 | dongfang | 441 | } |