| 8,7 → 8,7 |
|---|
| volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
| unsigned char *Ptr_buffer = (unsigned char *) &ToNaviCtrl; |
| |
| unsigned char SPITransferCompleted; |
| unsigned char SPITransferCompleted, SPI_ChkSum; |
| #ifdef USE_SPI_COMMUNICATION |
| //------------------------------------------------------ |
| void SPI_MasterInit(void) |
| 23,6 → 23,12 |
|---|
| ToNaviCtrl.Sync1 = 0x81; |
| ToNaviCtrl.Sync2 = 0x55; |
| |
| ToNaviCtrl.Comp = 12; |
| ToNaviCtrl.IntegralNick = 12345; |
| ToNaviCtrl.IntegralRoll = 56789; |
| ToNaviCtrl.StickNick = 100; |
| ToNaviCtrl.StickRoll = 150;//(char) StickRoll; |
| ToNaviCtrl.StickGier = 200;//(char) StickGier; |
| |
| } |
| |
| 33,6 → 39,7 |
|---|
| if (!SPITransferCompleted) return; |
| |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| |
| SPITransferCompleted = 0; |
| UpdateSPI_Buffer(); // update buffer |
| SPI_BufferIndex = 1; |
| 45,6 → 52,7 |
|---|
| */ |
| //---- |
| SPDR = ToNaviCtrl.Sync1; // Start transmission |
| ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1; |
| } |
| |
| //------------------------------------------------------ |
| 57,6 → 65,7 |
|---|
| if (SPI_BufferIndex < sizeof(FromNaviCtrl)) |
| { |
| SPI_Buffer[SPI_BufferIndex]= SPDR; // get data |
| |
| // if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex]; |
| |
| //if(SPDR!= 0x00) DebugOut.Analog[19]++; ; |
| 65,9 → 74,13 |
|---|
| if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
| { |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| |
| SPDR = Ptr_buffer[SPI_BufferIndex]; |
| ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex]; |
| } |
| else |
| { |
| 83,7 → 96,7 |
|---|
| //------------------------------------------------------ |
| void UpdateSPI_Buffer(void) |
| { |
| static unsigned char i =0; |
| /*static unsigned char i =0; |
| cli(); |
| ToNaviCtrl.Comp = SPI_PROTOCOL_COMP; |
| ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4); |
| 92,6 → 105,7 |
|---|
| ToNaviCtrl.StickRoll = 5;//(char) StickRoll; |
| ToNaviCtrl.StickGier = 6;//(char) StickGier; |
| sei(); |
| */ |
| } |
| |
| #endif |