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|---|---|---|---|
| 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 | ||
| 11 | unsigned char SPITransferCompleted, SPI_ChkSum; |
11 | unsigned char SPITransferCompleted, SPI_ChkSum; |
| 12 | #ifdef USE_SPI_COMMUNICATION |
12 | #ifdef USE_SPI_COMMUNICATION |
| - | 13 | ||
| 13 | //------------------------------------------------------ |
14 | //------------------------------------------------------ |
| 14 | void SPI_MasterInit(void) |
15 | void SPI_MasterInit(void) |
| 15 | { |
16 | { |
| 16 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
17 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| 17 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
18 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
| 18 | 19 | ||
| - | 20 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
|
| - | 21 | SPSR = 0; // SPI2X |
|
| 19 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
22 | |
| 20 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
23 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
| 21 | SPITransferCompleted = 1; |
24 | SPITransferCompleted = 1; |
| 22 | 25 | ||
| 23 | ToNaviCtrl.Sync1 = 0x81; |
26 | ToNaviCtrl.Sync1 = 0x81; |
| 24 | ToNaviCtrl.Sync2 = 0x55; |
27 | ToNaviCtrl.Sync2 = 0x55; |
| 25 | 28 | ||
| 26 | ToNaviCtrl.Comp = 12; |
29 | ToNaviCtrl.Comp = 12; |
| 27 | ToNaviCtrl.IntegralNick = 12345; |
30 | ToNaviCtrl.IntegralNick = 12345; |
| 28 | ToNaviCtrl.IntegralRoll = 56789; |
31 | ToNaviCtrl.IntegralRoll = 56789; |
| 29 | ToNaviCtrl.StickNick = 100; |
32 | ToNaviCtrl.StickNick = 100; |
| 30 | ToNaviCtrl.StickRoll = 150;//(char) StickRoll; |
33 | ToNaviCtrl.StickRoll = 150;//(char) StickRoll; |
| 31 | ToNaviCtrl.StickGier = 200;//(char) StickGier; |
34 | ToNaviCtrl.StickGier = 200;//(char) StickGier; |
| 32 | 35 | ||
| 33 | } |
36 | } |
| 34 | 37 | ||
| 35 | //------------------------------------------------------ |
38 | //------------------------------------------------------ |
| 36 | void SPI_StartTransmitPacket(void) |
39 | void SPI_StartTransmitPacket(void) |
| 37 | { |
40 | { |
| 38 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
41 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
| 39 | if (!SPITransferCompleted) return; |
42 | if (!SPITransferCompleted) return; |
| 40 | 43 | ||
| 41 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
44 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 42 | 45 | ||
| 43 | SPITransferCompleted = 0; |
46 | SPITransferCompleted = 0; |
| 44 | UpdateSPI_Buffer(); // update buffer |
47 | UpdateSPI_Buffer(); // update buffer |
| 45 | SPI_BufferIndex = 1; |
48 | SPI_BufferIndex = 1; |
| 46 | DebugOut.Analog[16]++; |
49 | DebugOut.Analog[16]++; |
| 47 | // -- Debug-Output --- |
50 | // -- Debug-Output --- |
| 48 | /* DebugOut.Analog[20] = FromNaviCtrl.Comp; |
- | |
| 49 | DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick; |
- | |
| 50 | DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll; |
- | |
| 51 | DebugOut.Analog[23] = FromNaviCtrl.CompassValue; |
- | |
| 52 | */ |
- | |
| 53 | //---- |
51 | //---- |
| - | 52 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
|
| - | 53 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
|
| - | 54 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
|
| 54 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
55 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
| 55 | ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1; |
56 | ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1; |
| - | 57 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
|
| - | 58 | ||
| 56 | } |
59 | } |
| 57 | 60 | ||
| 58 | //------------------------------------------------------ |
61 | //------------------------------------------------------ |
| 59 | //SIGNAL(SIG_SPI) |
62 | //SIGNAL(SIG_SPI) |
| 60 | void SPI_TransmitByte(void) |
63 | void SPI_TransmitByte(void) |
| 61 | { |
64 | { |
| - | 65 | ||
| - | 66 | if (SPITransferCompleted) return; |
|
| 62 | if (!(SPSR & (1 << SPIF))) return; |
67 | if (!(SPSR & (1 << SPIF))) return; |
| - | 68 | ||
| 63 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
69 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| 64 | 70 | ||
| 65 | if (SPI_BufferIndex < sizeof(FromNaviCtrl)) |
71 | if (SPI_BufferIndex < sizeof(FromNaviCtrl)) |
| 66 | { |
72 | { |
| 67 | SPI_Buffer[SPI_BufferIndex]= SPDR; // get data |
73 | SPI_Buffer[SPI_BufferIndex]= SPDR; // get data |
| 68 | 74 | ||
| 69 | // if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex]; |
75 | // if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex]; |
| 70 | 76 | ||
| 71 | //if(SPDR!= 0x00) DebugOut.Analog[19]++; ; |
77 | //if(SPDR!= 0x00) DebugOut.Analog[19]++; ; |
| 72 | } |
78 | } |
| 73 | 79 | ||
| 74 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
80 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
| 75 | { |
81 | { |
| 76 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
- | |
| 77 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
- | |
| 78 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
82 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| - | 83 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
|
| 79 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
84 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| 80 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
85 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| 81 | 86 | ||
| 82 | SPDR = Ptr_buffer[SPI_BufferIndex]; |
87 | SPDR = Ptr_buffer[SPI_BufferIndex]; |
| 83 | ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex]; |
88 | ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex]; |
| - | 89 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
|
| - | 90 | ||
| 84 | } |
91 | } |
| 85 | else |
92 | else |
| 86 | { |
93 | { |
| 87 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
94 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| 88 | 95 | ||
| 89 | SPITransferCompleted = 1; |
96 | SPITransferCompleted = 1; |
| 90 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
97 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
| 91 | } |
98 | } |
| 92 | 99 | ||
| 93 | SPI_BufferIndex++; |
100 | SPI_BufferIndex++; |
| 94 | } |
101 | } |
| - | 102 | ||
| - | 103 | /* |
|
| - | 104 | void SPI_MasterInit(void) |
|
| - | 105 | { |
|
| - | 106 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
|
| - | 107 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
|
| - | 108 | |
|
| - | 109 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
|
| - | 110 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
|
| - | 111 | SPITransferCompleted = 1; |
|
| - | 112 | |
|
| - | 113 | ToNaviCtrl.Sync1 = 0x81; |
|
| - | 114 | ToNaviCtrl.Sync2 = 0x55; |
|
| - | 115 | |
|
| - | 116 | |
|
| - | 117 | } |
|
| - | 118 | ||
| - | 119 | //------------------------------------------------------ |
|
| - | 120 | void SPI_StartTransmitPacket(void) |
|
| - | 121 | { |
|
| - | 122 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
|
| - | 123 | if (!SPITransferCompleted) return; |
|
| - | 124 | |
|
| - | 125 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
|
| - | 126 | SPITransferCompleted = 0; |
|
| - | 127 | UpdateSPI_Buffer(); // update buffer |
|
| - | 128 | SPI_BufferIndex = 1; |
|
| - | 129 | DebugOut.Analog[16]++; |
|
| - | 130 | // -- Debug-Output --- |
|
| - | 131 | //---- |
|
| - | 132 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
|
| - | 133 | } |
|
| - | 134 | ||
| - | 135 | //------------------------------------------------------ |
|
| - | 136 | //SIGNAL(SIG_SPI) |
|
| - | 137 | void SPI_TransmitByte(void) |
|
| - | 138 | { |
|
| - | 139 | if (!(SPSR & (1 << SPIF))) return; |
|
| - | 140 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
|
| - | 141 | |
|
| - | 142 | if (SPI_BufferIndex < sizeof(FromNaviCtrl)) |
|
| - | 143 | { |
|
| - | 144 | SPI_Buffer[SPI_BufferIndex]= SPDR; // get data |
|
| - | 145 | // if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex]; |
|
| - | 146 | |
|
| - | 147 | //if(SPDR!= 0x00) DebugOut.Analog[19]++; ; |
|
| - | 148 | } |
|
| - | 149 | |
|
| - | 150 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
|
| - | 151 | { |
|
| - | 152 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
|
| - | 153 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
|
| - | 154 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
|
| - | 155 | SPDR = Ptr_buffer[SPI_BufferIndex]; |
|
| - | 156 | } |
|
| - | 157 | else |
|
| - | 158 | { |
|
| - | 159 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
|
| - | 160 | |
|
| - | 161 | SPITransferCompleted = 1; |
|
| - | 162 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
|
| - | 163 | } |
|
| - | 164 | |
|
| - | 165 | SPI_BufferIndex++; |
|
| - | 166 | } |
|
| 95 | 167 | */ |
|
| 96 | //------------------------------------------------------ |
168 | //------------------------------------------------------ |
| 97 | void UpdateSPI_Buffer(void) |
169 | void UpdateSPI_Buffer(void) |
| 98 | { |
170 | { |
| 99 | /*static unsigned char i =0; |
171 | static unsigned char i =0; |
| 100 | cli(); |
172 | cli(); |
| 101 | ToNaviCtrl.Comp = SPI_PROTOCOL_COMP; |
173 | ToNaviCtrl.Comp = SPI_PROTOCOL_COMP; |
| 102 | ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4); |
174 | ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4); |
| 103 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4); |
175 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4); |
| 104 | ToNaviCtrl.StickNick = 4; |
176 | ToNaviCtrl.StickNick = 4; |
| 105 | ToNaviCtrl.StickRoll = 5;//(char) StickRoll; |
177 | ToNaviCtrl.StickRoll = 5;//(char) StickRoll; |
| 106 | ToNaviCtrl.StickGier = 6;//(char) StickGier; |
178 | ToNaviCtrl.StickGier = 6;//(char) StickGier; |
| 107 | sei(); |
179 | sei(); |
| 108 | */ |
180 | |
| 109 | } |
181 | } |
| 110 | 182 | ||
| 111 | #endif |
183 | #endif |
| 112 | 184 | ||
| 113 | 185 | ||
| 114 | 186 | ||