//------------------------------------------------------
void SPI_StartTransmitPacket(void)
{
if (!SPITransferCompleted) return;
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
SPITransferCompleted = 0;
UpdateSPI_Buffer(); // update buffer
SPI_BufferIndex = 1;
ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
SPDR = ToNaviCtrl.Sync1; // Start transmission
}
//------------------------------------------------------
void SPI_StartTransmitPacket(void)
{
//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed
if (!SPITransferCompleted) return;
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
SPITransferCompleted = 0;
UpdateSPI_Buffer(); // update buffer
SPI_BufferIndex = 1;
DebugOut.Analog[16]++;
// -- Debug-Output ---
/* DebugOut.Analog[20] = FromNaviCtrl.Comp;
DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick;
DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll;
DebugOut.Analog[23] = FromNaviCtrl.CompassValue;
*/
//----
SPDR = ToNaviCtrl.Sync1; // Start transmission
ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1;
}
