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Rev 617 Rev 691
Line 8... Line 8...
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volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
 8 
volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
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unsigned char *Ptr_buffer = (unsigned char *) &ToNaviCtrl;
 9 
unsigned char *Ptr_buffer = (unsigned char *) &ToNaviCtrl;
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 10 
 
11 
unsigned char SPITransferCompleted, SPI_ChkSum;
 11 
unsigned char SPITransferCompleted, SPI_ChkSum;
- 
 
 12 
#ifdef USE_SPI_COMMUNICATION
12 
#ifdef USE_SPI_COMMUNICATION
 13 
 
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
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17 
  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
 18 
  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
- 
 
 19 
   
- 
 
 20 
  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64
18 
   
 21 
  SPSR = 0;  // SPI2X
19 
  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64
22 
 
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  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
 23 
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
21 
  SPITransferCompleted = 1;
 24 
  SPITransferCompleted = 1;
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43 
   SPITransferCompleted = 0;
 46 
   SPITransferCompleted = 0;
44 
   UpdateSPI_Buffer();                              // update buffer
 47 
   UpdateSPI_Buffer();                              // update buffer
45 
   SPI_BufferIndex = 1;
 48 
   SPI_BufferIndex = 1;
46 
   DebugOut.Analog[16]++;
 49 
   DebugOut.Analog[16]++;
47 
   // -- Debug-Output ---
 50 
   // -- Debug-Output ---
48 
/*         DebugOut.Analog[20] = FromNaviCtrl.Comp;
 - 
 
49 
       DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick;
 - 
 
50 
       DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll;
 - 
 
51 
       DebugOut.Analog[23] = FromNaviCtrl.CompassValue;
 - 
 
52 
*/  
 - 
 
53 
   //----
 51 
   //----
- 
 
 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");
- 
 
 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");
- 
 
 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");
54 
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
55 
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
55 
   ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1;
 56 
   ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1;
- 
 
 57 
//     SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
- 
 
 58 
 
56 
}
 59 
}
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57 
 
 60 
 
58 
//------------------------------------------------------
 61 
//------------------------------------------------------
59 
//SIGNAL(SIG_SPI)
 62 
//SIGNAL(SIG_SPI)
60 
void SPI_TransmitByte(void)
 63 
void SPI_TransmitByte(void)
- 
 
 64 
{
- 
 
 65 
   
61 
{
 66 
   if (SPITransferCompleted) return;
- 
 
 67 
   if (!(SPSR & (1 << SPIF))) return;
62 
   if (!(SPSR & (1 << SPIF))) return;
 68 
   
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63 
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
 69 
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
64 
   
 70 
   
65 
          if (SPI_BufferIndex < sizeof(FromNaviCtrl))
 71 
          if (SPI_BufferIndex < sizeof(FromNaviCtrl))
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        //if(SPDR!= 0x00) DebugOut.Analog[19]++; ;            
77 
        //if(SPDR!= 0x00) DebugOut.Analog[19]++; ;            
72 
          }
 78 
          }
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 79 
 
74 
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))  
 80 
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))  
75 
     {
 - 
 
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");
 81 
     {
- 
 
 82 
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
78 
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
 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");
79 
           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");
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           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");
81 
           
 86 
           
- 
 
 87 
           SPDR = Ptr_buffer[SPI_BufferIndex];
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 88 
           ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex];
82 
           SPDR = Ptr_buffer[SPI_BufferIndex];
 89 
        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
83 
           ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex];
 90 
 
84 
         }
 91 
         }
85 
   else
 92 
   else
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91 
         }
 98 
         }
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 99 
         
93 
         SPI_BufferIndex++;
 100 
         SPI_BufferIndex++;
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- 
 
 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 
 
- 
 
 113 
  ToNaviCtrl.Sync1 = 0x81;
- 
 
 114 
  ToNaviCtrl.Sync2 = 0x55;
- 
 
 115 
 
- 
 
 116 
 
- 
 
 117 
}
- 
 
 118 
 
- 
 
 119 
//------------------------------------------------------
- 
 
 120 
void SPI_StartTransmitPacket(void)
- 
 
 121 
{
- 
 
 122 
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
- 
 
 123 
   if (!SPITransferCompleted) return;
- 
 
 124 
   
- 
 
 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 ---
- 
 
 131 
   //----
- 
 
 132 
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
- 
 
 133 
}
- 
 
 134 
 
- 
 
 135 
//------------------------------------------------------
- 
 
 136 
//SIGNAL(SIG_SPI)
- 
 
 137 
void SPI_TransmitByte(void)
- 
 
 138 
{
- 
 
 139 
   if (!(SPSR & (1 << SPIF))) return;
- 
 
 140 
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
- 
 
 141 
   
- 
 
 142 
          if (SPI_BufferIndex < sizeof(FromNaviCtrl))
- 
 
 143 
      {
- 
 
 144 
            SPI_Buffer[SPI_BufferIndex]= SPDR;             // get data
- 
 
 145 
//              if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex];
- 
 
 146 
       
- 
 
 147 
        //if(SPDR!= 0x00) DebugOut.Analog[19]++; ;            
- 
 
 148 
          }
- 
 
 149 
 
- 
 
 150 
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))  
- 
 
 151 
     {
- 
 
 152 
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
- 
 
 153 
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
- 
 
 154 
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
- 
 
 155 
           SPDR = Ptr_buffer[SPI_BufferIndex];
- 
 
 156 
         }
- 
 
 157 
   else
- 
 
 158 
     {
- 
 
 159 
           unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
- 
 
 160 
           
- 
 
 161 
       SPITransferCompleted = 1;  
- 
 
 162 
       memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
- 
 
 163 
         }
- 
 
 164 
         
- 
 
 165 
         SPI_BufferIndex++;
94 
}
 166 
}
95 
 
 167 
*/
96 
//------------------------------------------------------
 168 
//------------------------------------------------------
97 
void UpdateSPI_Buffer(void)
 169 
void UpdateSPI_Buffer(void)
98 
{
 170 
{
99 
  /*static unsigned char i =0;
 171 
  static unsigned char i =0;
100 
  cli();
 172 
  cli();
101 
  ToNaviCtrl.Comp = SPI_PROTOCOL_COMP;
 173 
  ToNaviCtrl.Comp = SPI_PROTOCOL_COMP;
102 
  ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4);
 174 
  ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4);
103 
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4);
 175 
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4);
104 
  ToNaviCtrl.StickNick = 4;
 176 
  ToNaviCtrl.StickNick = 4;
105 
  ToNaviCtrl.StickRoll = 5;//(char) StickRoll;
 177 
  ToNaviCtrl.StickRoll = 5;//(char) StickRoll;
106 
  ToNaviCtrl.StickGier = 6;//(char) StickGier;
 178 
  ToNaviCtrl.StickGier = 6;//(char) StickGier;
107 
  sei();
 179 
  sei();
Line 108... Line 180...
108 
  */
 180