Subversion Repositories FlightCtrl

Rev

Rev 606 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 606 Rev 617
Line 6... Line 6...
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;
Line 10... Line 10...
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 
{
Line 21... Line 21...
21 
  SPITransferCompleted = 1;
 21 
  SPITransferCompleted = 1;
Line 22... Line 22...
22 
 
 22 
 
23 
  ToNaviCtrl.Sync1 = 0x81;
 23 
  ToNaviCtrl.Sync1 = 0x81;
Line -... Line 24...
- 
 
 24 
  ToNaviCtrl.Sync2 = 0x55;
- 
 
 25 
 
- 
 
 26 
  ToNaviCtrl.Comp = 12;
- 
 
 27 
  ToNaviCtrl.IntegralNick = 12345;
- 
 
 28 
  ToNaviCtrl.IntegralRoll = 56789;
- 
 
 29 
  ToNaviCtrl.StickNick = 100;
Line 24... Line 30...
24 
  ToNaviCtrl.Sync2 = 0x55;
 30 
  ToNaviCtrl.StickRoll = 150;//(char) StickRoll;
Line 25... Line 31...
25 
 
 31 
  ToNaviCtrl.StickGier = 200;//(char) StickGier;
26 
 
 32 
 
27 
}
 33 
}
28 
 
 34 
 
29 
//------------------------------------------------------
 35 
//------------------------------------------------------
Line 30... Line 36...
30 
void SPI_StartTransmitPacket(void)
 36 
void SPI_StartTransmitPacket(void)
- 
 
 37 
{
31 
{
 38 
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
32 
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
 39 
   if (!SPITransferCompleted) return;
33 
   if (!SPITransferCompleted) return;
 40 
   
34 
   
 41 
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
35 
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
 42 
   
Line 43... Line 50...
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 
}
Line 49... Line 57...
49 
 
 57 
 
50 
//------------------------------------------------------
 58 
//------------------------------------------------------
51 
//SIGNAL(SIG_SPI)
 59 
//SIGNAL(SIG_SPI)
Line 55... Line 63...
55 
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
 63 
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
Line 56... Line 64...
56 
   
 64 
   
57 
          if (SPI_BufferIndex < sizeof(FromNaviCtrl))
 65 
          if (SPI_BufferIndex < sizeof(FromNaviCtrl))
58 
      {
 66 
      {
- 
 
 67 
            SPI_Buffer[SPI_BufferIndex]= SPDR;             // get data
59 
            SPI_Buffer[SPI_BufferIndex]= SPDR;             // get data
68 
               
Line 60... Line 69...
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 
       
Line 62... Line 71...
62 
        //if(SPDR!= 0x00) DebugOut.Analog[19]++; ;            
71 
        //if(SPDR!= 0x00) DebugOut.Analog[19]++; ;            
63 
          }
 72 
          }
64 
 
 73 
 
- 
 
 74 
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))  
65 
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))  
 75 
     {
66 
     {
 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");
- 
 
 78 
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
67 
           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");
68 
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
 81 
           
69 
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
 82 
           SPDR = Ptr_buffer[SPI_BufferIndex];
70 
           SPDR = Ptr_buffer[SPI_BufferIndex];
 83 
           ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex];
71 
         }
 84 
         }
Line 81... Line 94...
81 
}
 94 
}
Line 82... Line 95...
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;
- 
 
 107 
  sei();
94 
  sei();
 108 
  */
Line 95... Line 109...
95 
}
 109 
}