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| 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 |
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| 3 | it under the terms of the GNU General Public License as published by the Free Software Foundation; |
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| 4 | either version 3 of the License, or (at your option) any later version. |
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| 5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
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| 6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 7 | GNU General Public License for more details. You should have received a copy of the GNU General Public License |
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| 8 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 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 |
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| 11 | */ |
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| 12 | |||
| 13 | #include "main.h" |
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| 14 | |||
| 15 | MM3_struct MM3; |
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| 16 | |||
| 17 | |||
| 18 | //############################################################################ |
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| 19 | //Initialisierung der SPI-Schnittstelle |
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| 20 | void init_spi(void) |
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| 21 | //############################################################################ |
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| 22 | { |
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| 23 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1); |
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| 24 | SPSR = (1<<SPI2X); |
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| 25 | DDRB |= (1<<PB2)|(1<<PB7)|(1<<PB5); // J8, SCK, MOSI Ausgang (MicroMag3) |
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| 206 | Nick666 | 26 | |
| 205 | Nick666 | 27 | MM3.AXIS = MM3_X; |
| 28 | MM3.STATE = MM3_RESET; |
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| 218 | Nick666 | 29 | |
| 30 | PORTD &= ~(1<<PD3); // J5 einmalig auf Low -> SSNOT |
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| 205 | Nick666 | 31 | } |
| 32 | |||
| 33 | |||
| 34 | //############################################################################ |
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| 35 | //Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
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| 36 | void MM3_timer0(void) |
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| 37 | //############################################################################ |
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| 38 | { |
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| 39 | switch (MM3.STATE) |
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| 40 | { |
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| 41 | case MM3_RESET: |
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| 42 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
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| 43 | MM3.STATE = MM3_START_TRANSFER; |
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| 44 | break; |
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| 45 | |||
| 46 | case MM3_START_TRANSFER: |
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| 47 | PORTB &= ~(1<<PB2); // J8 auf Low |
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| 48 | |||
| 206 | Nick666 | 49 | if (MM3.AXIS == MM3_X) SPDR = 0x41; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
| 50 | else if (MM3.AXIS == MM3_Y) SPDR = 0x42; |
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| 51 | else if (MM3.AXIS == MM3_Z) SPDR = 0x43; |
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| 205 | Nick666 | 52 | else {MM3.STATE == MM3_IDLE;break;} |
| 53 | |||
| 206 | Nick666 | 54 | MM3.DRDY = SetDelay(8); |
| 205 | Nick666 | 55 | MM3.STATE = MM3_WAIT_DRDY; |
| 56 | break; |
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| 57 | |||
| 58 | case MM3_WAIT_DRDY: |
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| 59 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird |
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| 60 | break; |
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| 61 | |||
| 62 | case MM3_IDLE: |
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| 63 | break; |
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| 64 | } |
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| 65 | |||
| 66 | } |
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| 67 | |||
| 68 | //############################################################################ |
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| 69 | //SPI byte ready |
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| 70 | SIGNAL (SIG_SPI) |
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| 71 | //############################################################################ |
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| 206 | Nick666 | 72 | { |
| 205 | Nick666 | 73 | switch (MM3.STATE) |
| 74 | { |
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| 75 | case MM3_DRDY: |
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| 76 | if (MM3.AXIS == MM3_X) {MM3.x_axis=SPDR; MM3.x_axis<<=8; SPDR=0x00; MM3.STATE=MM3_X_BYTE2; break;} |
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| 77 | if (MM3.AXIS == MM3_Y) {MM3.y_axis=SPDR; MM3.y_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Y_BYTE2; break;} |
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| 78 | if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; break;} |
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| 79 | |||
| 80 | case MM3_X_BYTE2: |
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| 81 | MM3.x_axis |= SPDR; |
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| 82 | MM3.AXIS = MM3_Y; |
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| 83 | MM3.STATE = MM3_RESET; |
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| 84 | break; |
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| 85 | |||
| 86 | case MM3_Y_BYTE2: |
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| 87 | MM3.y_axis |= SPDR; |
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| 88 | MM3.AXIS = MM3_Z; |
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| 89 | MM3.STATE = MM3_RESET; |
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| 90 | break; |
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| 91 | |||
| 92 | case MM3_Z_BYTE2: |
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| 93 | MM3.z_axis |= SPDR; |
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| 94 | MM3.AXIS = MM3_X; |
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| 95 | MM3.STATE = MM3_RESET; |
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| 96 | break; |
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| 97 | } |
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| 98 | |||
| 99 | } |