SPI.zip_PIC Spi DMA_PIC spi_kxr94-2050_pic DMA_加速度计控制

#include "p33Fxxxx.h" #include "func.h" #include "Mac_def.h" #define KXR_CS_1 LATGbits.LATG15 =1 #define KXR_CS_0 LATGbits.LATG15 =0 #define SPI1_DSPRAM_LEN 2 extern unsigned char System_Step; Tri_Axis_Value Raw_Accel; unsigned char SPI1_TxBufferA[SPI1_DSPRAM_LEN] __attribute__((space(dma))); unsigned char SPI1_RxBufferA[SPI1_DSPRAM_LEN] __attribute__((space(dma))); unsigned char KXR94_Step_Op =0; unsigned char DAM7_RX_OVER =0; void DMA6_7_SPI1_Init(void) { TRISGbits.TRISG15 =0;//KXR94 _CS,配置为输出 KXR_CS_1; SPI1CON1bits.PPRE =1;//主分频1:16 SPI1CON1bits.SPRE =6;//辅分频1:2; SPI1CON1bits.SSEN =0;//SS片选信号引脚无用，由IO口控制 SPI1CON1bits.DISSCK = 0; //Internal Serial Clock is Enabled. SPI1CON1bits.DISSDO = 0; //SDOx pin is controlled by the module. SPI1CON1bits.MODE16 = 0; //Communication is Byte-wide (16 bits). SPI1CON1bits.SMP = 0; //Input Data is sampled at the middle of data output time. SPI1CON1bits.CKE = 1; //Serial output data changes on transition from //Idle clock state to active clock state SPI1CON1bits.CKP = 0; //Idle state for clock is a low level; //active state is a high level SPI1STATbits.SPISIDL =0;//空闲时处于工作状态 SPI1CON1bits.MSTEN = 1; //Master Mode Enabled SPI1STATbits.SPIEN = 1; //Enable SPI Module SPI1STATbits.SPIROV =0; //DMA6通道作为SPI1 TX配置 DMA6CONbits.SIZE =1;//字节发送宽度 DMA6CONbits.DIR =1;//从DPSRAM 地址读取，写外设入地址 DMA6CONbits.HALF =0;//当发送了所有数据时，发出中断 DMA6CONbits.NULLW =0;//正常工作 DMA6CONbits.AMODE =0;//带后递增的寄存器间接寻址模式 DMA6CONbits.MODE =1;//禁止单数据块乒乓模式 DMA6CNT =1; // DMA requests DMA6REQ =0b0001010; // Select SPI2 MOSI DMA6PAD = (volatile unsigned int) &SPI1BUF; DMA6STA = __builtin_dmaoffset(SPI1_TxBufferA); IFS4bits.DMA6IF = 0; // Clear DMA interrupt IEC4bits.DMA6IE = 1; // Enable DMA interrupt //DMA7通道作为SPI1 RX配置 DMA7CONbits.SIZE =1;//字接受宽度 DMA7CONbits.DIR =0;//从外设地址读取，写入DPSRAM 地址 DMA7CONbits.HALF =0;//当接受了所有数据时，发出中断 DMA7CONbits.NULLW =0;//正常工作 DMA7CONbits.AMODE =0;//带后递增的寄存器间接寻址模式 DMA7CONbits.MODE =1;//禁止单数据块乒乓模式 DMA7CNT =1; // DMA requests DMA7REQ =0b0001010; // Select SPI1 MOSI DMA7PAD = (volatile unsigned int) &SPI1BUF; DMA7STA = __builtin_dmaoffset(SPI1_RxBufferA); IFS4bits.DMA7IF = 0; // Clear DMA interrupt IEC4bits.DMA7IE = 1; // Enable DMA interrupt SPI1_TxBufferA[0]=0x04; SPI1_TxBufferA[1]=0x04; KXR94_Step_Op =0; DAM7_RX_OVER =0; DMA6CONbits.CHEN = 1; // Enable DMA6Channel DMA7CONbits.CHEN = 1; // Enable DMA7 Channel KXR_CS_0; DMA6REQbits.FORCE = 1; // Manual mode:Kick-start the 1st transfer } void __attribute__((__interrupt__,no_auto_psv)) _DMA6Interrupt(void) { IFS4bits.DMA6IF = 0; // Clear the DMA6 Interrupt Flag } void __attribute__((__interrupt__,no_auto_psv)) _DMA7Interrupt(void)//DMA7 { if(KXR94_Step_Op ==0 || KXR94_Step_Op ==2 || KXR94_Step_Op ==4 || KXR94_Step_Op ==6) KXR_CS_1; DAM7_RX_OVER =1; IFS4bits.DMA7IF = 0; // Clear the DMA7 Interrupt Flag } void Delay_40uS(void) { unsigned int i=0; for(i=0;i<300;i++); } void Delay_200nS(void) { unsigned int i=0; for(i=0;i<100;i++); } void Start_Accel_Sample(void) { uINT16 RX_Data; signed int Temp =0; if(DMA6REQbits.FORCE || DAM7_RX_OVER ==0) return; DAM7_RX_OVER =0; switch(KXR94_Step_Op) { case 0:KXR94_Step_Op =1; SPI1_TxBufferA[0] =0x00; Delay_200nS(); DMA6CNT =0; DMA7CNT =0; DMA6STA = __builtin_dmaoffset(SPI1_TxBufferA); DMA7STA = __builtin_dmaoffset(SPI1_RxBufferA); DMA6CONbits.CHEN = 1; // Enable DMA6Channel DMA7CONbits.CHEN = 1; // Enable DMA7 Channel DMA6REQbits.FORCE = 1; // Manual mode:Kick-start the 1st transfer KXR_CS_0; break; case 1:KXR94_Step_Op =2; SPI1_TxBufferA[0] =0x00; SPI1_TxBufferA[1] =0x00; Delay_40uS(); DMA6CNT =1; DMA7CNT =1; DMA6STA = __builtin_dmaoffset(SPI1_TxBufferA); DMA7STA = __builtin_dmaoffset(SPI1_RxBufferA); DMA6CONbits.CHEN = 1; // Enable DMA6Channel DMA7CONbits.CHEN = 1; // Enable DMA7 Channel DMA6REQbits.FORCE = 1; // Manual mode:Kick-start the 1st transfer break; case 2:RX_Data .Uint[1]=SPI1_RxBufferA[0]; RX_Data .Uint[0]=SPI1_RxBufferA[1]; RX_Data.VLI >>=4; RX_Data.VLI &=0x0fff; if(RX_Data.VLI >=2048) Temp =RX_Data.VLI - 2048; else {Temp =2048 - RX_Data.VLI;Temp =-Temp;} Raw_Accel.Roll.zero =(-1.0)*(float)Temp/819.0; KXR94_Step_Op =3; SPI1_TxBufferA[0] =0x01; Delay_200nS(); DMA6CNT =0; DMA7CNT =0; DMA6STA = __builtin_dmaoffset(SPI1_TxBufferA); DMA7STA = __builtin_dmaoffset(SPI1_RxBufferA); DMA6CONbits.CHEN = 1; // Enable DMA7 Channel DMA7CONbits.CHEN = 1; // Enable DMA7 Channel DMA6REQbits.FORCE = 1; // Manual mode:Kick-start the 1st transfer KXR_CS_0; break; case 3:KXR94_Step_Op =4; SPI1_TxBufferA[0] =0x00; SPI1_TxBufferA[1] =0x00; Delay_40uS(); DMA6CNT =1; DMA7CNT =1; DMA6STA = __builtin_dmaoffset(SPI1_TxBufferA); DMA7STA = __builtin_dmaoffset(SPI1_RxBufferA); DMA6CONbits.CHEN = 1; // Enable DMA6Channel DMA7CONbits.CHEN = 1; // Enable DMA7 Channel DMA6REQbits.FORCE = 1; // Manual mode:Kick-start the 1st transfer break; case 4:RX_Data .Uint[1]=SPI1_RxBufferA[0]; RX_Data .Uint[0]=SPI1_RxBufferA[1]; RX_Data.VLI >>=4; RX_Data.VLI &=0x0fff; if(RX_Data.VLI >=2048) Temp =RX_Data.VLI - 2048; else {Temp =2048 - RX_Data.VLI;Temp =-Temp;} Raw_Accel.Pitch.zero =((float)Temp)/819.0; KXR94_Step_Op =5; SPI1_TxBufferA[0] =0x02; Delay_200nS(); DMA6CNT =0; DMA7CNT =0; DMA6STA = __builtin_dmaoffset(SPI1_TxBufferA); DMA7STA = __builtin_dmaoffset(SPI1_RxBufferA); DMA7CONbits.CHEN = 1; // Enable DMA7 Channel DMA6CONbits.CHEN = 1; // Enable DMA6Channel DMA6REQbits.FORCE = 1; // Manual mode:Kick-start the 1st transfer KXR_CS_0; break; case 5:KXR94_Step_Op =6; SPI1_TxBufferA[0] =0x00; SPI1_TxBufferA[1] =0x00; Delay_40uS(); DMA6CNT =1; DMA7CNT =1; DMA6STA = __builtin_dmaoffset(SPI1_TxBufferA); DMA7STA = __builtin_dmaoffset(SPI1_RxBufferA); DMA7CONbits.CHEN = 1; // Enable DMA7 Channel DMA6CONbits.CHEN = 1; // Enable DMA6Channel DMA6REQbits.FORCE = 1; // Manual mode:Kick-start the 1st transfer break; case 6:KXR94_Step_Op =0; RX_Data .Uint[1]=SPI1_RxBufferA[0]; RX_Data .Uint[0]=SPI1_RxBufferA[1]; RX_Data.VLI >>=4; RX_Data.VLI &=0x0fff; if(RX_Data.VLI >=2048) { Temp =RX_Data.VLI - 2048; Temp =-Temp; } else Temp =2048 - RX_Data.VLI;