Subversion Repositories FlightCtrl

Rev

Rev 683 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 683 Rev 685
Line 1... Line 1...
1 
// ######################## SPI - FlightCtrl ###################
 1 
// ######################## SPI - FlightCtrl ###################
2 
#include "main.h"
 2 
#include "main.h"
- 
 
 3 
#include "spi.h"
Line 3... Line 4...
3 
 
 4 
 
4 
 
 5 
 
5 
struct str_ToNaviCtrl      ToNaviCtrl;
 6 
struct str_ToNaviCtrl      ToNaviCtrl;
Line 11... Line 12...
11 
unsigned char SPITransferCompleted, SPI_ChkSum;
 12 
unsigned char SPITransferCompleted, SPI_ChkSum;
12 
#ifdef USE_SPI_COMMUNICATION
 13 
#ifdef USE_SPI_COMMUNICATION
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 
 
19 
  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64
20 
  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);
 21 
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
21 
  SPITransferCompleted = 1;
 22 
  SPITransferCompleted = 1;
22 
 
 23 
 
23 
  ToNaviCtrl.Sync1 = 0x81;
 24 
  ToNaviCtrl.Sync1 = 0x81;
24 
  ToNaviCtrl.Sync2 = 0x55;
 25 
  ToNaviCtrl.Sync2 = 0x55;
25 
 
 26 
 
26 
  ToNaviCtrl.Comp = 12;
 27 
  ToNaviCtrl.Comp = 12;
27 
  ToNaviCtrl.IntegralNick = 12345;
 28 
  ToNaviCtrl.IntegralNick = 12345;
28 
  ToNaviCtrl.IntegralRoll = 56789;
 29 
  ToNaviCtrl.IntegralRoll = 56789;
29 
  ToNaviCtrl.StickNick = 100;
 30 
  ToNaviCtrl.StickNick = 100;
30 
  ToNaviCtrl.StickRoll = 150;//(char) StickRoll;
 31 
  ToNaviCtrl.StickRoll = 150;//(char) StickRoll;
31 
  ToNaviCtrl.StickGier = 200;//(char) StickGier;
 32 
  ToNaviCtrl.StickGier = 200;//(char) StickGier;
32 
 
 33 
 
33 
}
 34 
}
Line 34... Line 35...
34 
 
 35 
 
35 
//------------------------------------------------------
 36 
//------------------------------------------------------
36 
void SPI_StartTransmitPacket(void)
 37 
void SPI_StartTransmitPacket(void)
37 
{
 38 
{
38 
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
 39 
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
39 
   if (!SPITransferCompleted) return;
 40 
   if (!SPITransferCompleted) return;
40 
   
 41 
 
41 
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
 42 
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
42 
   
 43 
 
43 
   SPITransferCompleted = 0;
 44 
   SPITransferCompleted = 0;
44 
   UpdateSPI_Buffer();                              // update buffer
 45 
   UpdateSPI_Buffer();                              // update buffer
45 
   SPI_BufferIndex = 1;
 46 
   SPI_BufferIndex = 1;
46 
   DebugOut.Analog[16]++;
 47 
   DebugOut.Analog[16]++;
47 
   // -- Debug-Output ---
 48 
   // -- Debug-Output ---
48 
/*         DebugOut.Analog[20] = FromNaviCtrl.Comp;
 49 
/*         DebugOut.Analog[20] = FromNaviCtrl.Comp;
49 
       DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick;
 50 
       DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick;
50 
       DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll;
 51 
       DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll;
51 
       DebugOut.Analog[23] = FromNaviCtrl.CompassValue;
 52 
       DebugOut.Analog[23] = FromNaviCtrl.CompassValue;
52 
*/  
 53 
*/
53 
   //----
 54 
   //----
54 
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
55 
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
55 
   ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1;
 56 
   ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1;
Line 56... Line 57...
56 
}
 57 
}
57 
 
 58 
 
58 
//------------------------------------------------------
 59 
//------------------------------------------------------
59 
//SIGNAL(SIG_SPI)
 60 
//SIGNAL(SIG_SPI)
60 
void SPI_TransmitByte(void)
 61 
void SPI_TransmitByte(void)
61 
{
 62 
{
62 
   if (!(SPSR & (1 << SPIF))) return;
 63 
   if (!(SPSR & (1 << SPIF))) return;
63 
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
 64 
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
64 
   
 65 
 
65 
          if (SPI_BufferIndex < sizeof(FromNaviCtrl))
 66 
          if (SPI_BufferIndex < sizeof(FromNaviCtrl))
66 
      {
 67 
      {
67 
            SPI_Buffer[SPI_BufferIndex]= SPDR;             // get data
68 
            SPI_Buffer[SPI_BufferIndex]= SPDR;             // get data
68 
               
 69 
 
69 
//              if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex];
 70 
//              if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex];
70 
       
 71 
 
71 
        //if(SPDR!= 0x00) DebugOut.Analog[19]++; ;            
72 
        //if(SPDR!= 0x00) DebugOut.Analog[19]++; ;
72 
          }
 73 
          }
73 
 
 74 
 
74 
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))  
 75 
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))
75 
     {
 76 
     {
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");
77 
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
 78 
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
78 
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
 79 
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
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");
80 
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
 81 
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
81 
           
 82 
 
82 
           SPDR = Ptr_buffer[SPI_BufferIndex];
 83 
           SPDR = Ptr_buffer[SPI_BufferIndex];
83 
           ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex];
 84 
           ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex];
84 
         }
 85 
         }
85 
   else
 86 
   else
86 
     {
 87 
     {
87 
           unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
 88 
           unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
88 
           
 89 
 
89 
       SPITransferCompleted = 1;  
 90 
       SPITransferCompleted = 1;
90 
       memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
 91 
       memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
91 
         }
 92 
         }
92 
         
 93 
 
Line 93... Line 94...
93 
         SPI_BufferIndex++;
 94 
         SPI_BufferIndex++;
94 
}
 95 
}