Hallo Markus,
die erste Auswertung der übertragenen Werte sieht auch von meiner Seite gut aus.
Ich muss die Platine jetzt wieder mit dem Hauptrechner (linux cpu) verdrahten, da dieser eine bessere
Darstellung der Messwerte hat (Interface zum PC)
Hier wie versprochen der Quellcode des Slaves (ATMEGA8 auf Interrupt-Basis:
Init Master
Init SlaveCode:// ================================================================== // Setup of the SPI Interface // ================================================================== void InitSPIInterface(void) { SPCR = (1<<CPOL)| (1<<CPHA); // Signal Mode 3 SPCR |= (1<<SPE) | (1<<SPIE); //Activate the SPI Interrupt SPSR =0; // Clear the Control Register }
Code:// ================================================================== // Setup of the SPI Interface // ================================================================== void InitSPIInterface(void) { SPCR = (1<<CPOL)| (1<<CPHA); // Signal Mode 3 SPCR |= (1<<SPE) | (1<<SPIE); //Activate the SPI Interrupt SPSR =0; // Clear the Control Register }Code:// ================================================================== // SPI Interrupt handling // ================================================================== SIGNAL (SIG_SPI) { char *pointer; unsigned char data=0; data=SPDR; // get the data byte from the register if ( data != 0) { if (m_buffer_adr == NULL) // Is it the first byte to receive (setup buffer) { switch( data ) // get the command byte, which data area { case 'G': // Actual Angle by the Gyro module (Angle change per second) m_buffer_adr = (char*) &DataBuffer; m_NumberOfBytesToSend=10; pointer=(char*) &m_FilteredGyro; DataBuffer[0]= (char)*pointer++; DataBuffer[1]= (char)*pointer++; DataBuffer[2]= (char)*pointer++; DataBuffer[3]= (char)*pointer; pointer=(char*) &m_accelerometer_x; DataBuffer[4]= (char) *pointer++; DataBuffer[5]= (char) *pointer; pointer=(char*) &m_accelerometer_y; DataBuffer[6]= (char) *pointer++; DataBuffer[7]= (char) *pointer; pointer=(char*) &m_accelerometer_z; DataBuffer[8]= (char) *pointer++; DataBuffer[9]= (char) *pointer; break; case 'C': m_buffer_adr = (char*) &m_OrientationFromCompass; // Actual Compass value of the extern compass m_NumberOfBytesToSend=sizeof(m_OrientationFromCompass); break; case '!': // Status of the Program m_buffer_adr = (char*) &m_Status; m_NumberOfBytesToSend=sizeof(m_Status); break; case 'I': // Version of the m_buffer_adr = (char*) &m_version; m_NumberOfBytesToSend=sizeof(m_version); break; case 'T': // m_buffer_adr = (char*) &DataBuffer; m_NumberOfBytesToSend=4; DataBuffer[0]=m_MotorTemperatur_Left; DataBuffer[1]=m_MotorTemperatur_Right; DataBuffer[2]=m_ControllerTemperatur_Left; DataBuffer[3]=m_ControllerTemperatur_Right; break; case 'S': // m_buffer_adr = (char*) &DataBuffer; pointer=(char*) &m_MotorCurrent_Left; DataBuffer[0]= (char) *pointer++; DataBuffer[1]= (char) *pointer; pointer=(char*) &m_MotorCurrent_Right; DataBuffer[2]= (char) *pointer++; DataBuffer[3]= (char) *pointer; m_NumberOfBytesToSend=4; break; case 'V': // m_buffer_adr = (char*) &m_AkkuVoltage; m_NumberOfBytesToSend=sizeof(m_AkkuVoltage); break; default: m_buffer_adr = (char*) &m_version; m_NumberOfBytesToSend=sizeof(m_version); } SPDR = *m_buffer_adr; // Send the received command as a feedback return to master m_NumberOfBytesToSend--; } else // get no the data into the buffer { if(m_NumberOfBytesToSend > 0) { if( m_buffer_adr != NULL ) // Do we have a valid pointer { *m_buffer_adr=data; // Store the data into the buffer m_buffer_adr++; // Incr. Buffer address for the next byte } m_NumberOfBytesToSend--; // dec. counter of byte to send/receive if(m_NumberOfBytesToSend <= 0) { m_buffer_adr=NULL; // Clear Buffer Pointer } } else { m_buffer_adr=NULL; // Clear Buffer Pointer } SPDR = 0x0; // Dummy Answer } } else { //Slave transmitter ============================================================================ if(m_buffer_adr != NULL) // Buffer set up ? { if(m_NumberOfBytesToSend > 0) // do we have to send bytes still { SPDR = *m_buffer_adr; // send the data byte m_buffer_adr++; // get the next byte of the buffer m_NumberOfBytesToSend--; // dec. counter of byte to send } else { m_buffer_adr=NULL; // Clear Buffer Pointer SPDR=0x0; // No more values in the buffer } } else { m_buffer_adr=NULL; // Clear Buffer Pointer SPDR=0x0; // No more values in the buffer } } }
Vielen Dank für die Hilfe. Manchmal sieht man den Wald vor lauter Bäumen nicht und ist so eine Hilfe doch nicht schlecht.
Gruss R.
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