Subversion Repositories FlightCtrl

Rev

Rev 606 | Rev 618 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
304 ingob 1
// ######################## SPI - FlightCtrl ###################
2
#ifndef _SPI_H
3
#define _SPI_H
4
 
598 ingob 5
#define USE_SPI_COMMUNICATION 
597 ingob 6
 
304 ingob 7
#define SPI_PROTOCOL_COMP   1
8
 
9
//-----------------------------------------
10
#define DDR_SPI DDRB
11
#define DD_SS   PB4
12
#define DD_SCK  PB7
13
#define DD_MOSI PB5
14
#define DD_MISO PB6 
15
 
596 ingob 16
// for compatibility reasons gcc3.x <-> gcc4.x 
17
#ifndef SPCR  
18
#define SPCR   SPCR0
19
#endif    
20
#ifndef SPE  
21
#define SPE   SPE0
22
#endif    
23
#ifndef MSTR  
24
#define MSTR   MSTR0
25
#endif    
26
#ifndef SPR1  
27
#define SPR1   SPR01
28
#endif    
606 ingob 29
#ifndef SPR0  
30
#define SPR0   SPR00
31
#endif    
596 ingob 32
#ifndef SPIE  
33
#define SPIE   SPIE0
34
#endif    
35
#ifndef SPDR  
36
#define SPDR   SPDR0
37
#endif    
38
#ifndef SPIF  
39
#define SPIF   SPIF0
40
#endif    
41
#ifndef SPSR  
42
#define SPSR   SPSR0
43
#endif    
44
// -------------------------
304 ingob 45
 
46
#define SLAVE_SELECT_DDR_PORT   DDRC
47
#define SLAVE_SELECT_PORT       PORTC
48
#define SPI_SLAVE_SELECT        PC5
49
 
50
struct str_ToNaviCtrl
51
{
606 ingob 52
 unsigned char Sync1, Sync2;
304 ingob 53
 unsigned char Comp;
54
 int IntegralNick;
55
 int IntegralRoll;
56
 char StickNick,StickRoll,StickGier;
617 ingob 57
 unsigned char ChkSum;
304 ingob 58
};
59
 
60
struct str_FromNaviCtrl
61
{
596 ingob 62
 unsigned int Dummy;
304 ingob 63
 unsigned char Comp;
64
 int GPS_Nick;
65
 int GPS_Roll;
66
 int CompassValue;
67
};
68
 
597 ingob 69
#ifdef USE_SPI_COMMUNICATION
304 ingob 70
extern struct str_ToNaviCtrl   ToNaviCtrl;
71
extern struct str_FromNaviCtrl   FromNaviCtrl;
72
 
73
 
74
extern void SPI_MasterInit(void);
75
extern void SPI_StartTransmitPacket(void);
76
extern void UpdateSPI_Buffer(void);
77
extern void SPI_TransmitByte(void);
597 ingob 78
#else
304 ingob 79
 
80
 
597 ingob 81
// -------------------------------- Dummy -----------------------------------------
82
#define  SPI_MasterInit() ; 
83
#define  SPI_StartTransmitPacket() ;
84
#define  UpdateSPI_Buffer() ;
85
#define  SPI_TransmitByte() ;
86
#endif
304 ingob 87
 
597 ingob 88
 
89
#endif