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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 90 | gunterl | 1 | // ######################## SPI - FlightCtrl ################### |
| 2 | #include "main.h" |
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| 3 | |||
| 4 | |||
| 5 | struct str_ToNaviCtrl ToNaviCtrl; |
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| 6 | struct str_FromNaviCtrl FromNaviCtrl; |
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| 7 | unsigned char SPI_BufferIndex; |
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| 8 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
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| 9 | unsigned char *Ptr_buffer = (unsigned char *) &ToNaviCtrl; |
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| 10 | |||
| 11 | //------------------------------------------------------ |
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| 12 | void SPI_MasterInit(void) |
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| 13 | { |
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| 14 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
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| 15 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
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| 16 | |||
| 17 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
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| 18 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
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| 19 | } |
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| 20 | |||
| 21 | //------------------------------------------------------ |
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| 22 | void SPI_StartTransmitPacket(void) |
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| 23 | { |
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| 24 | if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
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| 25 | |||
| 26 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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| 27 | UpdateSPI_Buffer(); // update buffer |
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| 28 | SPI_BufferIndex = 1; |
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| 29 | DebugOut.Analog[16]++; |
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| 30 | // -- Debug-Output --- |
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| 31 | cli(); |
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| 32 | DebugOut.Analog[20] = FromNaviCtrl.Comp; |
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| 33 | DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick; |
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| 34 | DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll; |
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| 35 | DebugOut.Analog[23] = FromNaviCtrl.CompassValue; |
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| 36 | sei(); |
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| 37 | |||
| 38 | |||
| 39 | //---- |
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| 40 | SPDR = ToNaviCtrl.Comp; // Start transmission |
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| 41 | } |
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| 42 | |||
| 43 | //------------------------------------------------------ |
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| 44 | //SIGNAL(SIG_SPI) |
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| 45 | void SPI_TransmitByte(void) |
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| 46 | { |
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| 47 | if (!(SPSR & (1 << SPIF))) return; |
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| 48 | |||
| 49 | if (SPI_BufferIndex < sizeof(FromNaviCtrl)) |
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| 50 | { SPI_Buffer[SPI_BufferIndex]= SPDR; // get data |
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| 51 | |||
| 52 | //if(SPDR!= 0x00) DebugOut.Analog[19]++; ; |
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| 53 | } |
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| 54 | |||
| 55 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
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| 56 | { SPDR = Ptr_buffer[SPI_BufferIndex]; |
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| 57 | |||
| 58 | } |
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| 59 | else |
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| 60 | { |
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| 61 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
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| 62 | unsigned char i; |
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| 63 | |||
| 64 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
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| 65 | |||
| 66 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
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| 67 | } |
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| 68 | |||
| 69 | SPI_BufferIndex++; |
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| 70 | } |
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| 71 | |||
| 72 | //------------------------------------------------------ |
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| 73 | void UpdateSPI_Buffer(void) |
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| 74 | { |
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| 75 | cli(); |
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| 76 | ToNaviCtrl.Comp = SPI_PROTOCOL_COMP; |
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| 77 | ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4); |
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| 78 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4); |
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| 79 | ToNaviCtrl.StickNick = (char) StickNick; |
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| 80 | ToNaviCtrl.StickRoll = (char) StickRoll; |
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| 81 | ToNaviCtrl.StickGier = (char) StickGier; |
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| 82 | sei(); |
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| 83 | } |
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| 84 | |||
| 85 | |||
| 86 |