#include "Headfiles.h"

void SPI_Data_Output(unsigned char send_data)
{   
    unsigned char tmp;
    
    tmp = SPI1BUF; //No meaning, avoid receive overflow
    
    while (SPI1STATbits.SPITBF); //Wait for idle of SPI

    SPI1BUF = send_data;   //Write data to SPI write_register

    //while (!SPI1STATbits.SPIRBF); //Wait for send over of SPI
    // SPI1STATbits.SPIROV = 0;
    // tmp = SPI1BUF;
}

///***********************************************************************
//Func. Name:        DAC data processing(DP)
//Input variables:   None
//Output variables:  None
//Use sub-func.list: None
//Used by list:      ADCDAC.c -- DAC
//Description:       Process the digtal data for DAC output
//************************************************************************
void DAC_Datatreat(void)
{
    unsigned char i;
    int temp_output[2];
    
    temp_output[0] = PID[0] + System_Zero_Point[0];
                           //conrol_parameter_6 is zero-point of 1-channel
    temp_output[1] = PID[1] + System_Zero_Point[1];
                          //conrol_parameter_13 is zero-point of 2-channel
    
    //-------------------------Output data restriction & zero-point motion
    for (i = 0; i < 2; i++)
    {
        if (temp_output[i] >= 32767)
        {
            temp_output[i] = 32767;
        }
        else if (temp_output[i] <= -32768)
        {
            temp_output[i] = -32768;
        }
        
        Output[i] = temp_output[i] + 32768;
             //Make sure the data must be 0~65535(0x0000~0xffff)
    }
}

///************************************************************************
//Func. Name:        DAC (Digtal to analog convert)
//Input variables:   None
//Output variables:  None
//Use sub-func.list: ADCDAC.c -- DAC_Datatreat
//Used by list:      MainFunc.c -- TIMER_A (ISR)
//Description:       Output the control signal for controlling servo-valve
//         ------------------------
//        | MSP430                 |
//        |  F167     P6.6/A6/DAC0 |5pin--> Servo valve 1
//        |           P6.7/A7/DAC1 |6pin--> Servo valve 2
//        |                        |
//************************************************************************
void SPI_SendData_to_DAC(unsigned char command, unsigned int data_16bits)
{
    unsigned char low_8bits, high_8bits;
    
    low_8bits = (data_16bits & 0x00FF);
    high_8bits = ((data_16bits >> 8) & 0x00FF);
    
    _DACSYNC_ENABLE();     //Enable peripheral DAC moduel
    _SPION();              //Enable SPI
    
    SPI_Data_Output(command); //Send command(8bits)
    SPI_Data_Output(high_8bits); //Send high 8bits
    SPI_Data_Output(low_8bits);  //Send low 8bits

    _SPIOFF();             //Disable SPI
    _DACSYNC_DISABLE();    //Disable peripheral DAC moduel
}

void DAC(void)
{
    DAC_Datatreat();           // DAC data processing
    SPI_SendData_to_DAC(0x10, Output[0]); //Send the data to DAC_A
   // SPI_SendData_to_DAC(0x20, Output[1]);
}