WebSVN - FlightCtrl - Diff - Rev 596 and 597 - /branches/V0.68d


// ######################## SPI - FlightCtrl ###################
#include "main.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;
 
#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);
}
 
//------------------------------------------------------
void SPI_StartTransmitPacket(void)
{
   if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
   
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
   UpdateSPI_Buffer();                              // update buffer
   SPI_BufferIndex = 1;
   DebugOut.Analog[16]++;
   // -- Debug-Output ---
/*         DebugOut.Analog[20] = FromNaviCtrl.Comp;
       DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick;
       DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll;
       DebugOut.Analog[23] = FromNaviCtrl.CompassValue;
*/  
   //----
   SPDR = ToNaviCtrl.Comp;                  // Start transmission 
}
 
//------------------------------------------------------
//SIGNAL(SIG_SPI)
void SPI_TransmitByte(void)
{
   if (!(SPSR & (1 << SPIF))) return;
   
          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))  
     { SPDR = Ptr_buffer[SPI_BufferIndex];
       
         }
   else
     {
           unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
           
       SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
       memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
         }
         
         SPI_BufferIndex++;
}
 
//------------------------------------------------------
void UpdateSPI_Buffer(void)
{
  cli();
  ToNaviCtrl.Comp = SPI_PROTOCOL_COMP;
  ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4);
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4);
  ToNaviCtrl.StickNick = (char) StickNick;
  ToNaviCtrl.StickRoll = (char) StickRoll;
  ToNaviCtrl.StickGier = (char) StickGier;
  sei();
}
 
#endif
 
 
 

Subversion Repositories FlightCtrl

(root)/branches/V0.68d_DarkMod/spi.c @ 2750 - Rev 596 → 597

Rev 596		Rev 597
1	// ######################## SPI - FlightCtrl ###################	1	// ######################## SPI - FlightCtrl ###################
2	#include "main.h"	2	#include "main.h"
3		3
4		4
5	struct str_ToNaviCtrl ToNaviCtrl;	5	struct str_ToNaviCtrl ToNaviCtrl;
6	struct str_FromNaviCtrl FromNaviCtrl;	6	struct str_FromNaviCtrl FromNaviCtrl;
7	unsigned char SPI_BufferIndex;	7	unsigned char SPI_BufferIndex;
8	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)];	8	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)];
9	unsigned char Ptr_buffer = (unsigned char ) &ToNaviCtrl;	9	unsigned char Ptr_buffer = (unsigned char ) &ToNaviCtrl;
10		-
-		10	#ifdef USE_SPI_COMMUNICATION
11	//------------------------------------------------------	11	//------------------------------------------------------
12	void SPI_MasterInit(void)	12	void SPI_MasterInit(void)
13	{	13	{
14	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input	14	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input
15	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);	15	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);
16		16
17	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64	17	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
18	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);	18	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);
19	}	19	}
20		20
21	//------------------------------------------------------	21	//------------------------------------------------------
22	void SPI_StartTransmitPacket(void)	22	void SPI_StartTransmitPacket(void)
23	{	23	{
24	if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed	24	if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed
25		25
26	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave	26	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
27	UpdateSPI_Buffer(); // update buffer	27	UpdateSPI_Buffer(); // update buffer
28	SPI_BufferIndex = 1;	28	SPI_BufferIndex = 1;
29	DebugOut.Analog[16]++;	29	DebugOut.Analog[16]++;
30	// -- Debug-Output ---	30	// -- Debug-Output ---
31	/* DebugOut.Analog[20] = FromNaviCtrl.Comp;	31	/* DebugOut.Analog[20] = FromNaviCtrl.Comp;
32	DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick;	32	DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick;
33	DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll;	33	DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll;
34	DebugOut.Analog[23] = FromNaviCtrl.CompassValue;	34	DebugOut.Analog[23] = FromNaviCtrl.CompassValue;
35	*/	35	*/
36	//----	36	//----
37	SPDR = ToNaviCtrl.Comp; // Start transmission	37	SPDR = ToNaviCtrl.Comp; // Start transmission
38	}	38	}
39		39
40	//------------------------------------------------------	40	//------------------------------------------------------
41	//SIGNAL(SIG_SPI)	41	//SIGNAL(SIG_SPI)
42	void SPI_TransmitByte(void)	42	void SPI_TransmitByte(void)
43	{	43	{
44	if (!(SPSR & (1 << SPIF))) return;	44	if (!(SPSR & (1 << SPIF))) return;
45		45
46	if (SPI_BufferIndex < sizeof(FromNaviCtrl))	46	if (SPI_BufferIndex < sizeof(FromNaviCtrl))
47	{ SPI_Buffer[SPI_BufferIndex]= SPDR; // get data	47	{ SPI_Buffer[SPI_BufferIndex]= SPDR; // get data
48	// if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex];	48	// if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex];
49		49
50	//if(SPDR!= 0x00) DebugOut.Analog[19]++; ;	50	//if(SPDR!= 0x00) DebugOut.Analog[19]++; ;
51	}	51	}
52		52
53	if (SPI_BufferIndex < sizeof(ToNaviCtrl))	53	if (SPI_BufferIndex < sizeof(ToNaviCtrl))
54	{ SPDR = Ptr_buffer[SPI_BufferIndex];	54	{ SPDR = Ptr_buffer[SPI_BufferIndex];
55		55
56	}	56	}
57	else	57	else
58	{	58	{
59	unsigned char ptr = (unsigned char )&FromNaviCtrl;	59	unsigned char ptr = (unsigned char )&FromNaviCtrl;
60		60
61	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave	61	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
62	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));	62	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));
63	}	63	}
64		64
65	SPI_BufferIndex++;	65	SPI_BufferIndex++;
66	}	66	}
67		67
68	//------------------------------------------------------	68	//------------------------------------------------------
69	void UpdateSPI_Buffer(void)	69	void UpdateSPI_Buffer(void)
70	{	70	{
71	cli();	71	cli();
72	ToNaviCtrl.Comp = SPI_PROTOCOL_COMP;	72	ToNaviCtrl.Comp = SPI_PROTOCOL_COMP;
73	ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4);	73	ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4);
74	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4);	74	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4);
75	ToNaviCtrl.StickNick = (char) StickNick;	75	ToNaviCtrl.StickNick = (char) StickNick;
76	ToNaviCtrl.StickRoll = (char) StickRoll;	76	ToNaviCtrl.StickRoll = (char) StickRoll;
77	ToNaviCtrl.StickGier = (char) StickGier;	77	ToNaviCtrl.StickGier = (char) StickGier;
78	sei();	78	sei();
79	}	79	}
-		80
80		81	#endif
81		82
82		83
83		84