Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 205 | Nick666 | 1 | /* |
| 2 | This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
||
| 3 | it under the terms of the GNU General Public License as published by the Free Software Foundation; |
||
| 4 | either version 3 of the License, or (at your option) any later version. |
||
| 5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
||
| 6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||
| 7 | GNU General Public License for more details. You should have received a copy of the GNU General Public License |
||
| 8 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
||
| 9 | |||
| 10 | Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
||
| 11 | */ |
||
| 12 | |||
| 13 | #include "main.h" |
||
| 14 | |||
| 15 | MM3_struct MM3; |
||
| 16 | |||
| 17 | |||
| 18 | //############################################################################ |
||
| 19 | //Initialisierung der SPI-Schnittstelle |
||
| 20 | void init_spi(void) |
||
| 21 | //############################################################################ |
||
| 22 | { |
||
| 23 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1); |
||
| 24 | SPSR = (1<<SPI2X); |
||
| 25 | DDRB |= (1<<PB2)|(1<<PB7)|(1<<PB5); // J8, SCK, MOSI Ausgang (MicroMag3) |
||
| 26 | DDRD |= (1<PD3); |
||
| 27 | PORTD &= ~(1<<PD3); |
||
| 28 | |||
| 29 | MM3.AXIS = MM3_X; |
||
| 30 | MM3.STATE = MM3_RESET; |
||
| 31 | } |
||
| 32 | |||
| 33 | |||
| 34 | //############################################################################ |
||
| 35 | //Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
||
| 36 | void MM3_timer0(void) |
||
| 37 | //############################################################################ |
||
| 38 | { |
||
| 39 | switch (MM3.STATE) |
||
| 40 | { |
||
| 41 | case MM3_RESET: |
||
| 42 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
||
| 43 | MM3.STATE = MM3_START_TRANSFER; |
||
| 44 | break; |
||
| 45 | |||
| 46 | case MM3_START_TRANSFER: |
||
| 47 | PORTB &= ~(1<<PB2); // J8 auf Low |
||
| 48 | |||
| 49 | if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
||
| 50 | else if (MM3.AXIS == MM3_Y) SPDR = 0x52; |
||
| 51 | else if (MM3.AXIS == MM3_Z) SPDR = 0x53; |
||
| 52 | else {MM3.STATE == MM3_IDLE;break;} |
||
| 53 | |||
| 54 | MM3.DRDY = SetDelay(16); |
||
| 55 | MM3.STATE = MM3_WAIT_DRDY; |
||
| 56 | break; |
||
| 57 | |||
| 58 | case MM3_WAIT_DRDY: |
||
| 59 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird |
||
| 60 | break; |
||
| 61 | |||
| 62 | case MM3_IDLE: |
||
| 63 | break; |
||
| 64 | } |
||
| 65 | |||
| 66 | } |
||
| 67 | |||
| 68 | //############################################################################ |
||
| 69 | //SPI byte ready |
||
| 70 | SIGNAL (SIG_SPI) |
||
| 71 | //############################################################################ |
||
| 72 | { |
||
| 73 | if (!(SPCR & (1<<MSTR))) |
||
| 74 | { |
||
| 75 | SPCR |= (1<<MSTR); |
||
| 76 | } |
||
| 77 | |||
| 78 | switch (MM3.STATE) |
||
| 79 | { |
||
| 80 | 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;} |
||
| 82 | if (MM3.AXIS == MM3_Y) {MM3.y_axis=SPDR; MM3.y_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Y_BYTE2; break;} |
||
| 83 | if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; break;} |
||
| 84 | |||
| 85 | case MM3_X_BYTE2: |
||
| 86 | MM3.x_axis |= SPDR; |
||
| 87 | MM3.AXIS = MM3_Y; |
||
| 88 | MM3.STATE = MM3_RESET; |
||
| 89 | break; |
||
| 90 | |||
| 91 | case MM3_Y_BYTE2: |
||
| 92 | MM3.y_axis |= SPDR; |
||
| 93 | MM3.AXIS = MM3_Z; |
||
| 94 | MM3.STATE = MM3_RESET; |
||
| 95 | break; |
||
| 96 | |||
| 97 | case MM3_Z_BYTE2: |
||
| 98 | MM3.z_axis |= SPDR; |
||
| 99 | MM3.AXIS = MM3_X; |
||
| 100 | MM3.STATE = MM3_RESET; |
||
| 101 | break; |
||
| 102 | } |
||
| 103 | |||
| 104 | } |