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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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26 | DDRD |= (1<PD3); |
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27 | PORTD &= ~(1<<PD3); |
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28 | |||
29 | MM3.AXIS = MM3_X; |
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30 | MM3.STATE = MM3_RESET; |
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31 | } |
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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 | |||
49 | if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
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50 | else if (MM3.AXIS == MM3_Y) SPDR = 0x52; |
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51 | else if (MM3.AXIS == MM3_Z) SPDR = 0x53; |
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52 | else {MM3.STATE == MM3_IDLE;break;} |
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53 | |||
54 | MM3.DRDY = SetDelay(16); |
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55 | MM3.STATE = MM3_WAIT_DRDY; |
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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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72 | { |
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73 | if (!(SPCR & (1<<MSTR))) |
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74 | { |
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75 | SPCR |= (1<<MSTR); |
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76 | } |
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77 | |||
78 | switch (MM3.STATE) |
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79 | { |
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80 | case MM3_DRDY: |
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81 | 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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82 | 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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83 | 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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84 | |||
85 | case MM3_X_BYTE2: |
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86 | MM3.x_axis |= SPDR; |
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87 | MM3.AXIS = MM3_Y; |
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88 | MM3.STATE = MM3_RESET; |
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89 | break; |
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90 | |||
91 | case MM3_Y_BYTE2: |
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92 | MM3.y_axis |= SPDR; |
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93 | MM3.AXIS = MM3_Z; |
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94 | MM3.STATE = MM3_RESET; |
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95 | break; |
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96 | |||
97 | case MM3_Z_BYTE2: |
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98 | MM3.z_axis |= SPDR; |
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99 | MM3.AXIS = MM3_X; |
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100 | MM3.STATE = MM3_RESET; |
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101 | break; |
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102 | } |
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103 | |||
104 | } |