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| 1 | // ######################## SPI - FlightCtrl ################### |
1 | // ######################## SPI - FlightCtrl ################### |
| 2 | #include "main.h" |
2 | #include "main.h" |
| Line -... | Line 3... | ||
| - | 3 | ||
| - | 4 | ||
| 3 | 5 | struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
|
| 4 | 6 | struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
|
| - | 7 | struct str_ToNaviCtrl_Value ToNaviCtrl_Value; |
|
| 5 | struct str_ToNaviCtrl ToNaviCtrl; |
8 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
| - | 9 | ||
| - | 10 | unsigned char SPI_BufferIndex; |
|
| 6 | struct str_FromNaviCtrl FromNaviCtrl; |
11 | unsigned char SPI_RxBufferIndex; |
| 7 | unsigned char SPI_BufferIndex; |
12 | |
| Line 8... | Line 13... | ||
| 8 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
13 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl_Value)]; |
| 9 | unsigned char *Ptr_buffer = (unsigned char *) &ToNaviCtrl; |
14 | unsigned char *SPI_TX_Buffer, *ToNaviCtrl_Chksum; |
| Line 10... | Line 15... | ||
| 10 | 15 | ||
| Line 21... | Line 26... | ||
| 21 | SPSR = 0; // SPI2X |
26 | SPSR = 0; // SPI2X |
| Line 22... | Line 27... | ||
| 22 | 27 | ||
| 23 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
28 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
| Line 24... | Line -... | ||
| 24 | SPITransferCompleted = 1; |
- | |
| 25 | 29 | SPITransferCompleted = 1; |
|
| Line -... | Line 30... | ||
| - | 30 | ||
| 26 | ToNaviCtrl.Sync1 = 0x81; |
31 | //SPDR = 0x00; // dummy write |
| - | 32 | ||
| - | 33 | ToNaviCtrl_Value.Sync1 = 0x81; |
|
| 27 | ToNaviCtrl.Sync2 = 0x55; |
34 | ToNaviCtrl_Value.Sync2 = 0x55; |
| 28 | 35 | ||
| 29 | ToNaviCtrl.Comp = 12; |
36 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
| 30 | ToNaviCtrl.IntegralNick = 12345; |
37 | ToNaviCtrl_Value.IntegralNick = 12345; |
| 31 | ToNaviCtrl.IntegralRoll = 56789; |
38 | ToNaviCtrl_Value.IntegralRoll = 56789; |
| Line 32... | Line 39... | ||
| 32 | ToNaviCtrl.StickNick = 100; |
39 | ToNaviCtrl_Value.StickNick = 100; |
| Line 33... | Line 40... | ||
| 33 | ToNaviCtrl.StickRoll = 150;//(char) StickRoll; |
40 | ToNaviCtrl_Value.StickRoll = 150;//(char) StickRoll; |
| 34 | ToNaviCtrl.StickGier = 200;//(char) StickGier; |
41 | ToNaviCtrl_Value.StickGier = 200;//(char) StickGier; |
| 35 | 42 | ||
| 36 | } |
43 | } |
| 37 | 44 | ||
| - | 45 | //------------------------------------------------------ |
|
| - | 46 | void SPI_StartTransmitPacket(unsigned char command) |
|
| Line 38... | Line 47... | ||
| 38 | //------------------------------------------------------ |
47 | { |
| Line -... | Line 48... | ||
| - | 48 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
|
| - | 49 | if (!SPITransferCompleted) return; |
|
| - | 50 | //if (!(SPSR & (1 << SPIF))) return; |
|
| - | 51 | _delay_us(30); |
|
| - | 52 | ||
| - | 53 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
|
| - | 54 | ||
| - | 55 | switch(command) |
|
| - | 56 | { |
|
| - | 57 | case SPI_CMD_VERSION: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Version; |
|
| - | 58 | ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Version.Chksum; |
|
| - | 59 | break; |
|
| - | 60 | ||
| 39 | void SPI_StartTransmitPacket(void) |
61 | case SPI_CMD_VALUE: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Value; |
| 40 | { |
62 | ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Value.Chksum; |
| 41 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
63 | break; |
| 42 | if (!SPITransferCompleted) return; |
64 | |
| 43 | 65 | } |
|
| 44 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
66 | |
| 45 | 67 | ||
| 46 | SPITransferCompleted = 0; |
68 | SPITransferCompleted = 0; |
| 47 | UpdateSPI_Buffer(); // update buffer |
69 | UpdateSPI_Buffer(); // update buffer |
| 48 | SPI_BufferIndex = 1; |
70 | SPI_BufferIndex = 1; |
| 49 | DebugOut.Analog[16]++; |
71 | //ebugOut.Analog[16]++; |
| 50 | // -- Debug-Output --- |
72 | // -- Debug-Output --- |
| Line 51... | Line 73... | ||
| 51 | //---- |
73 | //---- |
| Line 52... | Line 74... | ||
| 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"); |
74 | 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"); |
75 | 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"); |
76 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| 55 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
77 | SPDR = ToNaviCtrl_Value.Sync1; // Start transmission |
| - | 78 | *ToNaviCtrl_Chksum = ToNaviCtrl_Value.Sync1; |
|
| - | 79 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
|
| - | 80 | ||
| Line 56... | Line 81... | ||
| 56 | ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1; |
81 | } |
| 57 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
82 | |
| Line -... | Line 83... | ||
| - | 83 | //------------------------------------------------------ |
|
| - | 84 | //SIGNAL(SIG_SPI) |
|
| 58 | 85 | void SPI_TransmitByte(void) |
|
| Line -... | Line 86... | ||
| - | 86 | { |
|
| 59 | } |
87 | static unsigned char SPI_RXState = 0; |
| 60 | 88 | unsigned char rxdata; |
|
| 61 | //------------------------------------------------------ |
89 | static unsigned char rxchksum; |
| Line -... | Line 90... | ||
| - | 90 | ||
| - | 91 | if (SPITransferCompleted) return; |
|
| - | 92 | if (!(SPSR & (1 << SPIF))) return; |
|
| 62 | //SIGNAL(SIG_SPI) |
93 | |
| Line 63... | Line -... | ||
| 63 | void SPI_TransmitByte(void) |
- | |
| 64 | { |
94 | _delay_us(30); |
| Line 65... | Line -... | ||
| 65 | - | ||
| 66 | if (SPITransferCompleted) return; |
95 | |
| 67 | if (!(SPSR & (1 << SPIF))) return; |
96 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| 68 | - | ||
| 69 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
- | |
| 70 | 97 | ||
| - | 98 | rxdata = SPDR; |
|
| - | 99 | switch ( SPI_RXState) |
|
| Line -... | Line 100... | ||
| - | 100 | { |
|
| 71 | if (SPI_BufferIndex < sizeof(FromNaviCtrl)) |
101 | case 0: |
| 72 | { |
102 | |
| 73 | SPI_Buffer[SPI_BufferIndex]= SPDR; // get data |
103 | SPI_RxBufferIndex = 0; |
| - | 104 | //DebugOut.Analog[17]++; |
|
| Line 74... | Line -... | ||
| 74 | - | ||
| 75 | // if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex]; |
105 | rxchksum = rxdata; |
| 76 | 106 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
|
| 77 | //if(SPDR!= 0x00) DebugOut.Analog[19]++; ; |
107 | |
| Line 78... | Line -... | ||
| 78 | } |
- | |
| 79 | 108 | break; |
|
| 80 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
- | |
| Line 81... | Line 109... | ||
| 81 | { |
109 | |
| 82 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
110 | case 1: |
| - | 111 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
|
| Line 83... | Line -... | ||
| 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"); |
- | |
| 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"); |
- | |
| 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"); |
- | |
| 86 | - | ||
| 87 | SPDR = Ptr_buffer[SPI_BufferIndex]; |
- | |
| 88 | ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex]; |
- | |
| 89 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
- | |
| 90 | - | ||
| 91 | } |
112 | else SPI_RXState = 0; |
| 92 | else |
- | |
| 93 | { |
- | |
| 94 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
- | |
| 95 | - | ||
| 96 | SPITransferCompleted = 1; |
- | |
| 97 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
113 | //DebugOut.Analog[18]++; |
| - | 114 | break; |
|
| - | 115 | ||
| Line 98... | Line -... | ||
| 98 | } |
- | |
| 99 | - | ||
| 100 | SPI_BufferIndex++; |
- | |
| 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 | |
116 | case 2: |
| Line 113... | Line -... | ||
| 113 | ToNaviCtrl.Sync1 = 0x81; |
- | |
| 114 | ToNaviCtrl.Sync2 = 0x55; |
- | |
| 115 | |
117 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
| 116 | |
118 | //DebugOut.Analog[19]++; |
| 117 | } |
- | |
| 118 | 119 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl_Value)) |
|
| - | 120 | { |
|
| - | 121 | ||
| - | 122 | if (rxdata == rxchksum) |
|
| Line 119... | Line 123... | ||
| 119 | //------------------------------------------------------ |
123 | { |
| 120 | void SPI_StartTransmitPacket(void) |
- | |
| 121 | { |
124 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl_Value; |
| 122 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
125 | |
| Line 123... | Line -... | ||
| 123 | if (!SPITransferCompleted) return; |
- | |
| 124 | |
126 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
| - | 127 | ||
| Line 125... | Line -... | ||
| 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 --- |
128 | DebugOut.Analog[20]++; |
| 131 | //---- |
129 | } |
| 132 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
- | |
| 133 | } |
- | |
| 134 | - | ||
| Line 135... | Line -... | ||
| 135 | //------------------------------------------------------ |
- | |
| 136 | //SIGNAL(SIG_SPI) |
- | |
| 137 | void SPI_TransmitByte(void) |
- | |
| Line 138... | Line -... | ||
| 138 | { |
- | |
| 139 | if (!(SPSR & (1 << SPIF))) return; |
- | |
| 140 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
- | |
| 141 | |
130 | else DebugOut.Analog[21]++; |
| 142 | if (SPI_BufferIndex < sizeof(FromNaviCtrl)) |
131 | |
| 143 | { |
132 | SPI_RXState = 0; |
| 144 | SPI_Buffer[SPI_BufferIndex]= SPDR; // get data |
133 | } |
| 145 | // if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex]; |
134 | else rxchksum += rxdata; |
| 146 | |
135 | break; |
| 147 | //if(SPDR!= 0x00) DebugOut.Analog[19]++; ; |
136 | |
| 148 | } |
137 | } |
| 149 | |
138 | |
| 150 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
139 | if (SPI_BufferIndex < sizeof(ToNaviCtrl_Value)) |
| 151 | { |
140 | { |
| 152 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
141 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| Line -... | Line 142... | ||
| - | 142 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
|
| - | 143 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
|
| 153 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
144 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| Line 154... | Line 145... | ||
| 154 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
145 | |