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Rev | Author | Line No. | Line |
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827 | ingob | 1 | // ######################## SPI - FlightCtrl ################### |
2 | #ifndef _SPI_H |
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3 | #define _SPI_H |
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4 | |||
5 | #include <util/delay.h> |
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6 | |||
1051 | killagreg | 7 | #define USE_SPI_COMMUNICATION |
827 | ingob | 8 | |
9 | #define SPI_PROTOCOL_COMP 1 |
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10 | |||
11 | //----------------------------------------- |
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12 | #define DDR_SPI DDRB |
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13 | #define DD_SS PB4 |
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14 | #define DD_SCK PB7 |
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15 | #define DD_MOSI PB5 |
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1051 | killagreg | 16 | #define DD_MISO PB6 |
827 | ingob | 17 | |
1051 | killagreg | 18 | // for compatibility reasons gcc3.x <-> gcc4.x |
19 | #ifndef SPCR |
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827 | ingob | 20 | #define SPCR SPCR0 |
1051 | killagreg | 21 | #endif |
22 | #ifndef SPE |
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827 | ingob | 23 | #define SPE SPE0 |
1051 | killagreg | 24 | #endif |
25 | #ifndef MSTR |
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827 | ingob | 26 | #define MSTR MSTR0 |
1051 | killagreg | 27 | #endif |
28 | #ifndef SPR1 |
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827 | ingob | 29 | #define SPR1 SPR01 |
1051 | killagreg | 30 | #endif |
31 | #ifndef SPR0 |
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827 | ingob | 32 | #define SPR0 SPR00 |
1051 | killagreg | 33 | #endif |
34 | #ifndef SPIE |
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827 | ingob | 35 | #define SPIE SPIE0 |
1051 | killagreg | 36 | #endif |
37 | #ifndef SPDR |
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827 | ingob | 38 | #define SPDR SPDR0 |
1051 | killagreg | 39 | #endif |
40 | #ifndef SPIF |
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827 | ingob | 41 | #define SPIF SPIF0 |
1051 | killagreg | 42 | #endif |
43 | #ifndef SPSR |
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827 | ingob | 44 | #define SPSR SPSR0 |
1051 | killagreg | 45 | #endif |
827 | ingob | 46 | // ------------------------- |
47 | |||
48 | #define SLAVE_SELECT_DDR_PORT DDRC |
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49 | #define SLAVE_SELECT_PORT PORTC |
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50 | #define SPI_SLAVE_SELECT PC5 |
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51 | |||
52 | |||
53 | #define SPI_CMD_USER 10 |
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54 | #define SPI_CMD_STICK 11 |
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1036 | hbuss | 55 | #define SPI_CMD_MISC 12 |
921 | hbuss | 56 | #define SPI_CMD_PARAMETER1 13 |
991 | ingob | 57 | #define SPI_CMD_VERSION 14 |
58 | |||
827 | ingob | 59 | struct str_ToNaviCtrl |
60 | { |
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61 | unsigned char Sync1, Sync2; |
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62 | unsigned char Command; |
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63 | signed int IntegralNick; |
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64 | signed int IntegralRoll; |
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65 | signed int AccNick; |
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66 | signed int AccRoll; |
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67 | signed int GyroCompass; |
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68 | signed int GyroNick; |
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69 | signed int GyroRoll; |
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70 | signed int GyroGier; |
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1051 | killagreg | 71 | union |
827 | ingob | 72 | { char Byte[12]; |
73 | int Int[6]; |
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74 | long Long[3]; |
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75 | float Float[3]; |
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76 | } Param; |
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77 | unsigned char Chksum; |
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1051 | killagreg | 78 | }; |
827 | ingob | 79 | |
80 | #define SPI_CMD_OSD_DATA 100 |
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81 | #define SPI_CMD_GPS_POS 101 |
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992 | hbuss | 82 | #define SPI_CMD_GPS_TARGET 102 |
83 | #define SPI_KALMAN 103 |
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84 | |||
827 | ingob | 85 | struct str_FromNaviCtrl |
86 | { |
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87 | unsigned char Command; |
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88 | signed int GPS_Nick; |
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89 | signed int GPS_Roll; |
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90 | signed int GPS_Gier; |
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91 | signed int CompassValue; |
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92 | signed int Status; |
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989 | hbuss | 93 | unsigned int BeepTime; |
1051 | killagreg | 94 | union |
827 | ingob | 95 | { char Byte[12]; |
96 | int Int[6]; |
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97 | long Long[3]; |
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98 | float Float[3]; |
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99 | } Param; |
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100 | unsigned char Chksum; |
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1051 | killagreg | 101 | }; |
827 | ingob | 102 | |
978 | hbuss | 103 | struct str_FromNaviCtrl_Value |
104 | { |
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105 | signed int OsdBar; |
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106 | signed int Distance; |
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992 | hbuss | 107 | signed char Kalman_K; |
108 | signed char Kalman_MaxDrift; |
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109 | signed char Kalman_MaxFusion; |
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978 | hbuss | 110 | }; |
827 | ingob | 111 | |
1051 | killagreg | 112 | struct str_SPI_VersionInfo |
113 | { |
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114 | unsigned char Major; |
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115 | unsigned char Minor; |
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116 | unsigned char Patch; |
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117 | unsigned char Compatible; |
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118 | }; |
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119 | |||
827 | ingob | 120 | #ifdef USE_SPI_COMMUNICATION |
121 | |||
978 | hbuss | 122 | extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
827 | ingob | 123 | extern struct str_ToNaviCtrl ToNaviCtrl; |
124 | extern struct str_FromNaviCtrl FromNaviCtrl; |
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921 | hbuss | 125 | extern unsigned char SPI_CommandCounter; |
827 | ingob | 126 | |
127 | //#define SPI_CMD_VALUE 0x03 |
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128 | |||
129 | extern void SPI_MasterInit(void); |
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130 | extern void SPI_StartTransmitPacket(void); |
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131 | extern void UpdateSPI_Buffer(void); |
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132 | extern void SPI_TransmitByte(void); |
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133 | #else |
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134 | |||
135 | |||
136 | // -------------------------------- Dummy ----------------------------------------- |
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1051 | killagreg | 137 | #define SPI_MasterInit() ; |
827 | ingob | 138 | #define SPI_StartTransmitPacket() ; |
139 | #define UpdateSPI_Buffer() ; |
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140 | #define SPI_TransmitByte() ; |
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141 | #endif |
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142 | |||
143 | |||
144 | #endif |