| 0,0 → 1,114 |
|---|
| // ######################## SPI - FlightCtrl ################### |
| #include "main.h" |
| #include "spi.h" |
| |
| |
| struct str_ToNaviCtrl ToNaviCtrl; |
| struct str_FromNaviCtrl FromNaviCtrl; |
| unsigned char SPI_BufferIndex; |
| volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
| unsigned char *Ptr_buffer = (unsigned char *) &ToNaviCtrl; |
| |
| unsigned char SPITransferCompleted, SPI_ChkSum; |
| #ifdef USE_SPI_COMMUNICATION |
| //------------------------------------------------------ |
| void SPI_MasterInit(void) |
| { |
| DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
| |
| SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
| SPITransferCompleted = 1; |
| |
| ToNaviCtrl.Sync1 = 0x81; |
| ToNaviCtrl.Sync2 = 0x55; |
| |
| ToNaviCtrl.Comp = 12; |
| ToNaviCtrl.IntegralPitch = 12345; |
| ToNaviCtrl.IntegralRoll = 56789; |
| ToNaviCtrl.StickPitch = 100; |
| ToNaviCtrl.StickRoll = 150;//(char) StickRoll; |
| ToNaviCtrl.StickYaw = 200;//(char) StickYaw; |
| |
| } |
| |
| //------------------------------------------------------ |
| void SPI_StartTransmitPacket(void) |
| { |
| //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
| if (!SPITransferCompleted) return; |
| |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| |
| SPITransferCompleted = 0; |
| UpdateSPI_Buffer(); // update buffer |
| SPI_BufferIndex = 1; |
| // DebugOut.Analog[16]++; |
| // -- Debug-Output --- |
| /* DebugOut.Analog[20] = FromNaviCtrl.Comp; |
| DebugOut.Analog[21] = FromNaviCtrl.GPS_Pitch; |
| DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll; |
| DebugOut.Analog[23] = FromNaviCtrl.CompassHeading; |
| */ |
| //---- |
| SPDR = ToNaviCtrl.Sync1; // Start transmission |
| ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1; |
| } |
| |
| //------------------------------------------------------ |
| //SIGNAL(SIG_SPI) |
| void SPI_TransmitByte(void) |
| { |
| if (!(SPSR & (1 << SPIF))) return; |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| |
| 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]++; ; |
| } |
| |
| 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 |
| { |
| unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| |
| SPITransferCompleted = 1; |
| memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
| } |
| |
| SPI_BufferIndex++; |
| } |
| |
| //------------------------------------------------------ |
| void UpdateSPI_Buffer(void) |
| { |
| /*static unsigned char i =0; |
| cli(); |
| ToNaviCtrl.Comp = SPI_PROTOCOL_COMP; |
| ToNaviCtrl.IntegralPitch = (int) (IntegralPitch >> 4); |
| ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4); |
| ToNaviCtrl.StickPitch = 4; |
| ToNaviCtrl.StickRoll = 5;//(char) StickRoll; |
| ToNaviCtrl.StickYaw = 6;//(char) StickYaw; |
| sei(); |
| */ |
| } |
| |
| #endif |
| |
| |