WebSVN - FlightCtrl - Diff - Rev 606 and 617


// ######################## 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;
 
unsigned char SPITransferCompleted, SPI_ChkSum;
#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);
  SPITransferCompleted = 1;
 
  ToNaviCtrl.Sync1 = 0x81;
  ToNaviCtrl.Sync2 = 0x55;
 
  ToNaviCtrl.Comp = 12;
  ToNaviCtrl.IntegralNick = 12345;
  ToNaviCtrl.IntegralRoll = 56789;
  ToNaviCtrl.StickNick = 100;
  ToNaviCtrl.StickRoll = 150;//(char) StickRoll;
  ToNaviCtrl.StickGier = 200;//(char) StickGier;
 
}
 
//------------------------------------------------------
void SPI_StartTransmitPacket(void)
{
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
   if (!SPITransferCompleted) return;
   
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
   
   SPITransferCompleted = 0;
   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.Sync1;                  // Start transmission 
   ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1;
}
 
//------------------------------------------------------
//SIGNAL(SIG_SPI)
void SPI_TransmitByte(void)
{
   if (!(SPSR & (1 << SPIF))) return;
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
   
          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))  
     {
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
           
           SPDR = Ptr_buffer[SPI_BufferIndex];
           ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex];
         }
   else
     {
           unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
           
       SPITransferCompleted = 1;  
       memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
         }
         
         SPI_BufferIndex++;
}
 
//------------------------------------------------------
void UpdateSPI_Buffer(void)
{
  /*static unsigned char i =0;
  cli();
  ToNaviCtrl.Comp = SPI_PROTOCOL_COMP;
  ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4);
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4);
  ToNaviCtrl.StickNick = 4;
  ToNaviCtrl.StickRoll = 5;//(char) StickRoll;
  ToNaviCtrl.StickGier = 6;//(char) StickGier;
  sei();
  */
}
 
#endif
 
 
 

Rev 606	Rev 617
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;	11	unsigned char SPITransferCompleted, SPI_ChkSum;
12	#ifdef USE_SPI_COMMUNICATION	12	#ifdef USE_SPI_COMMUNICATION
13	//------------------------------------------------------	13	//------------------------------------------------------
14	void SPI_MasterInit(void)	14	void SPI_MasterInit(void)
15	{	15	{
16	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input	16	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);	17	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);
18		18
19	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64	19	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
20	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);	20	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);
21	SPITransferCompleted = 1;	21	SPITransferCompleted = 1;
22		22
23	ToNaviCtrl.Sync1 = 0x81;	23	ToNaviCtrl.Sync1 = 0x81;
24	ToNaviCtrl.Sync2 = 0x55;	24	ToNaviCtrl.Sync2 = 0x55;
-		25
-		26	ToNaviCtrl.Comp = 12;
-		27	ToNaviCtrl.IntegralNick = 12345;
-		28	ToNaviCtrl.IntegralRoll = 56789;
-		29	ToNaviCtrl.StickNick = 100;
-		30	ToNaviCtrl.StickRoll = 150;//(char) StickRoll;
25		31	ToNaviCtrl.StickGier = 200;//(char) StickGier;
26		32
27	}	33	}
28		34
29	//------------------------------------------------------	35	//------------------------------------------------------
30	void SPI_StartTransmitPacket(void)	36	void SPI_StartTransmitPacket(void)
31	{	37	{
32	//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed	38	//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed
33	if (!SPITransferCompleted) return;	39	if (!SPITransferCompleted) return;
34		40
35	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave	41	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
-		42
36	SPITransferCompleted = 0;	43	SPITransferCompleted = 0;
37	UpdateSPI_Buffer(); // update buffer	44	UpdateSPI_Buffer(); // update buffer
38	SPI_BufferIndex = 1;	45	SPI_BufferIndex = 1;
39	DebugOut.Analog[16]++;	46	DebugOut.Analog[16]++;
40	// -- Debug-Output ---	47	// -- Debug-Output ---
41	/* DebugOut.Analog[20] = FromNaviCtrl.Comp;	48	/* DebugOut.Analog[20] = FromNaviCtrl.Comp;
42	DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick;	49	DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick;
43	DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll;	50	DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll;
44	DebugOut.Analog[23] = FromNaviCtrl.CompassValue;	51	DebugOut.Analog[23] = FromNaviCtrl.CompassValue;
45	*/	52	*/
46	//----	53	//----
47	SPDR = ToNaviCtrl.Sync1; // Start transmission	54	SPDR = ToNaviCtrl.Sync1; // Start transmission
-		55	ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1;
48	}	56	}
49		57
50	//------------------------------------------------------	58	//------------------------------------------------------
51	//SIGNAL(SIG_SPI)	59	//SIGNAL(SIG_SPI)
52	void SPI_TransmitByte(void)	60	void SPI_TransmitByte(void)
53	{	61	{
54	if (!(SPSR & (1 << SPIF))) return;	62	if (!(SPSR & (1 << SPIF))) return;
55	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave	63	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
56		64
57	if (SPI_BufferIndex < sizeof(FromNaviCtrl))	65	if (SPI_BufferIndex < sizeof(FromNaviCtrl))
58	{	66	{
59	SPI_Buffer[SPI_BufferIndex]= SPDR; // get data	67	SPI_Buffer[SPI_BufferIndex]= SPDR; // get data
-		68
60	// if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex];	69	// if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex];
61		70
62	//if(SPDR!= 0x00) DebugOut.Analog[19]++; ;	71	//if(SPDR!= 0x00) DebugOut.Analog[19]++; ;
63	}	72	}
64		73
65	if (SPI_BufferIndex < sizeof(ToNaviCtrl))	74	if (SPI_BufferIndex < sizeof(ToNaviCtrl))
66	{	75	{
67	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");	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");
68	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave	78	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
69	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");
-		80	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
-		81
70	SPDR = Ptr_buffer[SPI_BufferIndex];	82	SPDR = Ptr_buffer[SPI_BufferIndex];
-		83	ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex];
71	}	84	}
72	else	85	else
73	{	86	{
74	unsigned char ptr = (unsigned char )&FromNaviCtrl;	87	unsigned char ptr = (unsigned char )&FromNaviCtrl;
75		88
76	SPITransferCompleted = 1;	89	SPITransferCompleted = 1;
77	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));	90	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));
78	}	91	}
79		92
80	SPI_BufferIndex++;	93	SPI_BufferIndex++;
81	}	94	}
82		95
83	//------------------------------------------------------	96	//------------------------------------------------------
84	void UpdateSPI_Buffer(void)	97	void UpdateSPI_Buffer(void)
85	{	98	{
86	static unsigned char i =0;	99	/*static unsigned char i =0;
87	cli();	100	cli();
88	ToNaviCtrl.Comp = SPI_PROTOCOL_COMP;	101	ToNaviCtrl.Comp = SPI_PROTOCOL_COMP;
89	ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4);	102	ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4);
90	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4);	103	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4);
91	ToNaviCtrl.StickNick = 4;	104	ToNaviCtrl.StickNick = 4;
92	ToNaviCtrl.StickRoll = 5;//(char) StickRoll;	105	ToNaviCtrl.StickRoll = 5;//(char) StickRoll;
93	ToNaviCtrl.StickGier = 6;//(char) StickGier;	106	ToNaviCtrl.StickGier = 6;//(char) StickGier;
94	sei();	107	sei();
-		108	*/
95	}	109	}
96		110
97	#endif	111	#endif
98		112
99		113
100		114

Subversion Repositories FlightCtrl

(root)/tags/V2.18a/spi.c @ 2716 - Rev 606 → 617