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| Rev 720 | Rev 723 | ||
|---|---|---|---|
| Line 23... | Line 23... | ||
| 23 | { |
23 | { |
| 24 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
24 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| 25 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
25 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
| Line 26... | Line 26... | ||
| 26 | 26 | ||
| 27 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
27 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
| Line 28... | Line 28... | ||
| 28 | SPSR = 0; // SPI2X |
28 | SPSR = 0;//(1<<SPI2X); |
| 29 | 29 | ||
| Line 30... | Line 30... | ||
| 30 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
30 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
| Line 48... | Line 48... | ||
| 48 | //------------------------------------------------------ |
48 | //------------------------------------------------------ |
| 49 | void SPI_StartTransmitPacket(unsigned char command) |
49 | void SPI_StartTransmitPacket(unsigned char command) |
| 50 | { |
50 | { |
| 51 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
51 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
| 52 | if (!SPITransferCompleted) return; |
52 | if (!SPITransferCompleted) return; |
| 53 | //if (!(SPSR & (1 << SPIF))) return; |
- | |
| 54 | _delay_us(30); |
53 | // _delay_us(30); |
| Line 55... | Line 54... | ||
| 55 | 54 | ||
| Line 56... | Line 55... | ||
| 56 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
55 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 57 | 56 | ||
| Line 64... | Line 63... | ||
| 64 | case SPI_CMD_VALUE: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Value; |
63 | case SPI_CMD_VALUE: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Value; |
| 65 | ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Value.Chksum; |
64 | ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Value.Chksum; |
| 66 | break; |
65 | break; |
| Line 67... | Line 66... | ||
| 67 | 66 | ||
| 68 | } |
67 | } |
| Line 69... | Line 68... | ||
| 69 | 68 | ||
| 70 | 69 | ||
| 71 | SPITransferCompleted = 0; |
70 | SPITransferCompleted = 0; |
| 72 | UpdateSPI_Buffer(); // update buffer |
71 | UpdateSPI_Buffer(); // update buffer |
| Line 91... | Line 90... | ||
| 91 | unsigned char rxdata; |
90 | unsigned char rxdata; |
| 92 | static unsigned char rxchksum; |
91 | static unsigned char rxchksum; |
| Line 93... | Line 92... | ||
| 93 | 92 | ||
| 94 | if (SPITransferCompleted) return; |
93 | if (SPITransferCompleted) return; |
| - | 94 | if (!(SPSR & (1 << SPIF))) return; |
|
| Line 95... | Line 95... | ||
| 95 | if (!(SPSR & (1 << SPIF))) return; |
95 | SendSPI = 4; |
| 96 | - | ||
| 97 | _delay_us(30); |
96 | |
| Line 98... | Line 97... | ||
| 98 | 97 | // _delay_us(30); |
|
| 99 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
98 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| 100 | 99 | ||
| Line 184... | Line 183... | ||
| 184 | GPS_Nick = FromNaviCtrl_Value.GPS_Nick; |
183 | GPS_Nick = FromNaviCtrl_Value.GPS_Nick; |
| 185 | GPS_Roll = FromNaviCtrl_Value.GPS_Roll; |
184 | GPS_Roll = FromNaviCtrl_Value.GPS_Roll; |
| 186 | KompassValue = FromNaviCtrl_Value.CompassValue; |
185 | KompassValue = FromNaviCtrl_Value.CompassValue; |
| 187 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
186 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| Line 188... | Line 187... | ||
| 188 | 187 | ||
| 189 | if (FromNaviCtrl_Value.BeepTime != 0) beeptime = FromNaviCtrl_Value.BeepTime; |
188 | if (FromNaviCtrl_Value.BeepTime > beeptime) beeptime = FromNaviCtrl_Value.BeepTime; |
| 190 | } |
189 | } |
| 191 | else |
190 | else |
| 192 | { |
191 | { |
| 193 | KompassValue = 0; |
192 | KompassValue = 0; |