| 0,0 → 1,104 |
|---|
| /* |
| This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
| without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| |
| 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 |
| */ |
| |
| #include "main.h" |
| |
| MM3_struct MM3; |
| |
| |
| //############################################################################ |
| //Initialisierung der SPI-Schnittstelle |
| void init_spi(void) |
| //############################################################################ |
| { |
| SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1); |
| SPSR = (1<<SPI2X); |
| DDRB |= (1<<PB2)|(1<<PB7)|(1<<PB5); // J8, SCK, MOSI Ausgang (MicroMag3) |
| DDRD |= (1<PD3); |
| PORTD &= ~(1<<PD3); |
| |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| } |
| |
| |
| //############################################################################ |
| //Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
| void MM3_timer0(void) |
| //############################################################################ |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_RESET: |
| PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
| MM3.STATE = MM3_START_TRANSFER; |
| break; |
| |
| case MM3_START_TRANSFER: |
| PORTB &= ~(1<<PB2); // J8 auf Low |
| |
| if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
| else if (MM3.AXIS == MM3_Y) SPDR = 0x52; |
| else if (MM3.AXIS == MM3_Z) SPDR = 0x53; |
| else {MM3.STATE == MM3_IDLE;break;} |
| |
| MM3.DRDY = SetDelay(16); |
| MM3.STATE = MM3_WAIT_DRDY; |
| break; |
| |
| case MM3_WAIT_DRDY: |
| if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird |
| break; |
| |
| case MM3_IDLE: |
| break; |
| } |
| |
| } |
| |
| //############################################################################ |
| //SPI byte ready |
| SIGNAL (SIG_SPI) |
| //############################################################################ |
| { |
| if (!(SPCR & (1<<MSTR))) |
| { |
| SPCR |= (1<<MSTR); |
| } |
| |
| switch (MM3.STATE) |
| { |
| case MM3_DRDY: |
| if (MM3.AXIS == MM3_X) {MM3.x_axis=SPDR; MM3.x_axis<<=8; SPDR=0x00; MM3.STATE=MM3_X_BYTE2; break;} |
| if (MM3.AXIS == MM3_Y) {MM3.y_axis=SPDR; MM3.y_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Y_BYTE2; break;} |
| if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; break;} |
| |
| case MM3_X_BYTE2: |
| MM3.x_axis |= SPDR; |
| MM3.AXIS = MM3_Y; |
| MM3.STATE = MM3_RESET; |
| break; |
| |
| case MM3_Y_BYTE2: |
| MM3.y_axis |= SPDR; |
| MM3.AXIS = MM3_Z; |
| MM3.STATE = MM3_RESET; |
| break; |
| |
| case MM3_Z_BYTE2: |
| MM3.z_axis |= SPDR; |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| break; |
| } |
| |
| } |