| 81,10 → 81,19 |
|---|
| // set MISO (PB6) as input |
| DDRB &= ~(1<<DDB6); |
| |
| #ifdef USE_WALTER_EXT // walthers board |
| // Output Pins (J9)PC6->MM3_SS ,(J8)PB2->MM3_RESET |
| DDRB |= (1<<DDB2); |
| DDRC |= (1<<DDC6); |
| // set pins permanent to low |
| PORTB &= ~((1<<PORTB2)); |
| PORTC &= ~((1<<PORTC6)); |
| #else // killagregs board |
| // Output Pins PC4->MM3_SS ,PC5->MM3_RESET |
| DDRC |= (1<<DDC4)|(1<<DDC5); |
| // set pins permanent to low |
| PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
| #endif |
| |
| // Initialize SPI-Interface |
| // Enable interrupt (SPIE=1) |
| 91,9 → 100,9 |
|---|
| // Enable SPI bus (SPE=1) |
| // MSB transmitted first (DORD = 0) |
| // Master SPI Mode (MSTR=1) |
| // Clock polarity low whn idle (CPOL=0) |
| // clock phase sample at leading edge (CPHA=0) |
| // clock rate = SYSCLK/128 (SPI2X=0, SPR1=1, SPR0=1) 20MHz/128 = 156.25kHz |
| // Clock polarity low when idle (CPOL=0) |
| // Clock phase sample at leading edge (CPHA=0) |
| // Clock rate = SYSCLK/128 (SPI2X=0, SPR1=1, SPR0=1) 20MHz/128 = 156.25kHz |
| SPCR = (1<<SPIE)|(1<<SPE)|(0<<DORD)|(1<<MSTR)|(0<<CPOL)|(0<<CPHA)|(1<<SPR1)|(1<<SPR0); |
| SPSR &= ~(1<<SPI2X); |
| |
| 123,14 → 132,22 |
|---|
| switch (MM3.STATE) |
| { |
| case MM3_STATE_RESET: |
| #ifdef USE_WALTER_EXT // walthers board |
| PORTC &= ~(1<<PORTC6); // select slave |
| PORTB |= (1<<PORTB2); // PB2 to High, MM3 Reset |
| #else |
| PORTC &= ~(1<<PORTC4); // select slave |
| PORTC |= (1<<PORTC5); // PC5 to High, MM3 Reset |
| #endif |
| MM3.STATE = MM3_STATE_START_TRANSFER; |
| return; |
| |
| case MM3_STATE_START_TRANSFER: |
| #ifdef USE_WALTER_EXT // walthers board |
| PORTB &= ~(1<<PORTB2); // PB2 auf Low (was 102.4 µs at high level) |
| #else |
| PORTC &= ~(1<<PORTC5); // PC4 auf Low (was 102.4 µs at high level) |
| |
| #endif |
| // write to SPDR triggers automatically the transfer MOSI MISO |
| // MM3 Period, + AXIS code |
| switch(MM3.AXIS) |
| 211,7 → 228,11 |
|---|
| break; |
| } |
| } |
| #ifdef USE_WALTER_EXT // walthers board |
| PORTC |= (1<<PORTC6); // deselect slave |
| #else |
| PORTC |= (1<<PORTC4); // deselect slave |
| #endif |
| MM3.STATE = MM3_STATE_RESET; |
| // Update timeout is called every 102.4 µs. |
| // It takes 2 cycles to write a measurement data request for one axis and |