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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 | |
992 | hbuss | 80 | #define SPI_KALMAN 103 |
81 | |||
827 | ingob | 82 | struct str_FromNaviCtrl |
83 | { |
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84 | unsigned char Command; |
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85 | signed int GPS_Nick; |
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86 | signed int GPS_Roll; |
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87 | signed int GPS_Gier; |
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88 | signed int CompassValue; |
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89 | signed int Status; |
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989 | hbuss | 90 | unsigned int BeepTime; |
1051 | killagreg | 91 | union |
827 | ingob | 92 | { char Byte[12]; |
93 | int Int[6]; |
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94 | long Long[3]; |
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95 | float Float[3]; |
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96 | } Param; |
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97 | unsigned char Chksum; |
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1051 | killagreg | 98 | }; |
827 | ingob | 99 | |
978 | hbuss | 100 | struct str_FromNaviCtrl_Value |
101 | { |
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992 | hbuss | 102 | signed char Kalman_K; |
103 | signed char Kalman_MaxDrift; |
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104 | signed char Kalman_MaxFusion; |
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1215 | hbuss | 105 | unsigned char SerialDataOkay; |
978 | hbuss | 106 | }; |
827 | ingob | 107 | |
1051 | killagreg | 108 | struct str_SPI_VersionInfo |
109 | { |
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110 | unsigned char Major; |
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111 | unsigned char Minor; |
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112 | unsigned char Patch; |
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113 | unsigned char Compatible; |
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114 | }; |
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115 | |||
827 | ingob | 116 | #ifdef USE_SPI_COMMUNICATION |
117 | |||
978 | hbuss | 118 | extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
827 | ingob | 119 | extern struct str_ToNaviCtrl ToNaviCtrl; |
120 | extern struct str_FromNaviCtrl FromNaviCtrl; |
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1215 | hbuss | 121 | extern unsigned char SPI_CommandCounter,NaviDataOkay; |
827 | ingob | 122 | |
123 | //#define SPI_CMD_VALUE 0x03 |
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124 | |||
125 | extern void SPI_MasterInit(void); |
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126 | extern void SPI_StartTransmitPacket(void); |
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127 | extern void UpdateSPI_Buffer(void); |
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128 | extern void SPI_TransmitByte(void); |
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129 | #else |
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130 | |||
131 | |||
132 | // -------------------------------- Dummy ----------------------------------------- |
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1051 | killagreg | 133 | #define SPI_MasterInit() ; |
827 | ingob | 134 | #define SPI_StartTransmitPacket() ; |
135 | #define UpdateSPI_Buffer() ; |
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136 | #define SPI_TransmitByte() ; |
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137 | #endif |
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138 | |||
139 | |||
140 | #endif |