WebSVN - FlightCtrl - Diff - Rev 205 and 206 - /branches/v0.60_MicroMag3


/*
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)
 
 
               
        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 = 0x41;                     // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus
                else if (MM3.AXIS == MM3_Y) SPDR = 0x42;
                else if (MM3.AXIS == MM3_Z) SPDR = 0x43;
                else {MM3.STATE == MM3_IDLE;break;}
               
                MM3.DRDY = SetDelay(8);
                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)
//############################################################################
{      
 
 
 
 
 
        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; 
        }
 
}
 

Rev 205	Rev 206
1	/*	1	/*
2	This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify	2	This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify
3	it under the terms of the GNU General Public License as published by the Free Software Foundation;	3	it under the terms of the GNU General Public License as published by the Free Software Foundation;
4	either version 3 of the License, or (at your option) any later version.	4	either version 3 of the License, or (at your option) any later version.
5	This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;	5	This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
6	without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the	6	without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
7	GNU General Public License for more details. You should have received a copy of the GNU General Public License	7	GNU General Public License for more details. You should have received a copy of the GNU General Public License
8	along with this program. If not, see <http://www.gnu.org/licenses/>.	8	along with this program. If not, see <http://www.gnu.org/licenses/>.
9		9
10	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	10	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
11	*/	11	*/
12		12
13	#include "main.h"	13	#include "main.h"
14		14
15	MM3_struct MM3;	15	MM3_struct MM3;
16		16
17		17
18	//############################################################################	18	//############################################################################
19	//Initialisierung der SPI-Schnittstelle	19	//Initialisierung der SPI-Schnittstelle
20	void init_spi(void)	20	void init_spi(void)
21	//############################################################################	21	//############################################################################
22	{	22	{
23	SPCR = (1<<SPIE)\|(1<<SPE)\|(1<<MSTR)\|(1<<SPR1);	23	SPCR = (1<<SPIE)\|(1<<SPE)\|(1<<MSTR)\|(1<<SPR1);
24	SPSR = (1<<SPI2X);	24	SPSR = (1<<SPI2X);
25	DDRB \|= (1<<PB2)\|(1<<PB7)\|(1<<PB5); // J8, SCK, MOSI Ausgang (MicroMag3)	25	DDRB \|= (1<<PB2)\|(1<<PB7)\|(1<<PB5); // J8, SCK, MOSI Ausgang (MicroMag3)
26	DDRD \|= (1<PD3);	-
27	PORTD &= ~(1<<PD3);	-
28		26
29	MM3.AXIS = MM3_X;	27	MM3.AXIS = MM3_X;
30	MM3.STATE = MM3_RESET;	28	MM3.STATE = MM3_RESET;
31	}	29	}
32		30
33		31
34	//############################################################################	32	//############################################################################
35	//Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen	33	//Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen
36	void MM3_timer0(void)	34	void MM3_timer0(void)
37	//############################################################################	35	//############################################################################
38	{	36	{
39	switch (MM3.STATE)	37	switch (MM3.STATE)
40	{	38	{
41	case MM3_RESET:	39	case MM3_RESET:
42	PORTB \|= (1<<PB2); // J8 auf High, MM3 Reset	40	PORTB \|= (1<<PB2); // J8 auf High, MM3 Reset
43	MM3.STATE = MM3_START_TRANSFER;	41	MM3.STATE = MM3_START_TRANSFER;
44	break;	42	break;
45		43
46	case MM3_START_TRANSFER:	44	case MM3_START_TRANSFER:
47	PORTB &= ~(1<<PB2); // J8 auf Low	45	PORTB &= ~(1<<PB2); // J8 auf Low
48		46
49	if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus	47	if (MM3.AXIS == MM3_X) SPDR = 0x41; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus
50	else if (MM3.AXIS == MM3_Y) SPDR = 0x52;	48	else if (MM3.AXIS == MM3_Y) SPDR = 0x42;
51	else if (MM3.AXIS == MM3_Z) SPDR = 0x53;	49	else if (MM3.AXIS == MM3_Z) SPDR = 0x43;
52	else {MM3.STATE == MM3_IDLE;break;}	50	else {MM3.STATE == MM3_IDLE;break;}
53		51
54	MM3.DRDY = SetDelay(16);	52	MM3.DRDY = SetDelay(8);
55	MM3.STATE = MM3_WAIT_DRDY;	53	MM3.STATE = MM3_WAIT_DRDY;
56	break;	54	break;
57		55
58	case MM3_WAIT_DRDY:	56	case MM3_WAIT_DRDY:
59	if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird	57	if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird
60	break;	58	break;
61		59
62	case MM3_IDLE:	60	case MM3_IDLE:
63	break;	61	break;
64	}	62	}
65		63
66	}	64	}
67		65
68	//############################################################################	66	//############################################################################
69	//SPI byte ready	67	//SPI byte ready
70	SIGNAL (SIG_SPI)	68	SIGNAL (SIG_SPI)
71	//############################################################################	69	//############################################################################
72	{	70	{
73	if (!(SPCR & (1<<MSTR)))	-
74	{	-
75	SPCR \|= (1<<MSTR);	-
76	}	-
77		-
78	switch (MM3.STATE)	71	switch (MM3.STATE)
79	{	72	{
80	case MM3_DRDY:	73	case MM3_DRDY:
81	if (MM3.AXIS == MM3_X) {MM3.x_axis=SPDR; MM3.x_axis<<=8; SPDR=0x00; MM3.STATE=MM3_X_BYTE2; break;}	74	if (MM3.AXIS == MM3_X) {MM3.x_axis=SPDR; MM3.x_axis<<=8; SPDR=0x00; MM3.STATE=MM3_X_BYTE2; break;}
82	if (MM3.AXIS == MM3_Y) {MM3.y_axis=SPDR; MM3.y_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Y_BYTE2; break;}	75	if (MM3.AXIS == MM3_Y) {MM3.y_axis=SPDR; MM3.y_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Y_BYTE2; break;}
83	if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; break;}	76	if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; break;}
84		77
85	case MM3_X_BYTE2:	78	case MM3_X_BYTE2:
86	MM3.x_axis \|= SPDR;	79	MM3.x_axis \|= SPDR;
87	MM3.AXIS = MM3_Y;	80	MM3.AXIS = MM3_Y;
88	MM3.STATE = MM3_RESET;	81	MM3.STATE = MM3_RESET;
89	break;	82	break;
90		83
91	case MM3_Y_BYTE2:	84	case MM3_Y_BYTE2:
92	MM3.y_axis \|= SPDR;	85	MM3.y_axis \|= SPDR;
93	MM3.AXIS = MM3_Z;	86	MM3.AXIS = MM3_Z;
94	MM3.STATE = MM3_RESET;	87	MM3.STATE = MM3_RESET;
95	break;	88	break;
96		89
97	case MM3_Z_BYTE2:	90	case MM3_Z_BYTE2:
98	MM3.z_axis \|= SPDR;	91	MM3.z_axis \|= SPDR;
99	MM3.AXIS = MM3_X;	92	MM3.AXIS = MM3_X;
100	MM3.STATE = MM3_RESET;	93	MM3.STATE = MM3_RESET;
101	break;	94	break;
102	}	95	}
103		96
104	}	97	}
105		98

Subversion Repositories FlightCtrl

(root)/branches/v0.60_MicroMag3_Nick666/compass.c - Rev 205 → 206