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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 | |||
7 | #define USE_SPI_COMMUNICATION |
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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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16 | #define DD_MISO PB6 |
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17 | |||
18 | // for compatibility reasons gcc3.x <-> gcc4.x |
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19 | #ifndef SPCR |
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20 | #define SPCR SPCR0 |
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21 | #endif |
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22 | #ifndef SPE |
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23 | #define SPE SPE0 |
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24 | #endif |
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25 | #ifndef MSTR |
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26 | #define MSTR MSTR0 |
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27 | #endif |
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28 | #ifndef SPR1 |
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29 | #define SPR1 SPR01 |
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30 | #endif |
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31 | #ifndef SPR0 |
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32 | #define SPR0 SPR00 |
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33 | #endif |
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34 | #ifndef SPIE |
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35 | #define SPIE SPIE0 |
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36 | #endif |
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37 | #ifndef SPDR |
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38 | #define SPDR SPDR0 |
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39 | #endif |
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40 | #ifndef SPIF |
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41 | #define SPIF SPIF0 |
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42 | #endif |
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43 | #ifndef SPSR |
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44 | #define SPSR SPSR0 |
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45 | #endif |
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46 | // ------------------------- |
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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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55 | #define SPI_CMD_CAL_COMPASS 12 |
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56 | struct str_ToNaviCtrl |
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57 | { |
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58 | unsigned char Sync1, Sync2; |
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59 | unsigned char Command; |
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60 | signed int IntegralNick; |
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61 | signed int IntegralRoll; |
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62 | signed int AccNick; |
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63 | signed int AccRoll; |
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64 | signed int GyroCompass; |
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65 | signed int GyroNick; |
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66 | signed int GyroRoll; |
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67 | signed int GyroGier; |
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68 | union |
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69 | { char Byte[12]; |
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70 | int Int[6]; |
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71 | long Long[3]; |
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72 | float Float[3]; |
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73 | } Param; |
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74 | unsigned char Chksum; |
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75 | }; |
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76 | |||
77 | #define SPI_CMD_OSD_DATA 100 |
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78 | #define SPI_CMD_GPS_POS 101 |
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79 | #define SPI_CMD_GPS_TARGET 102 |
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80 | struct str_FromNaviCtrl |
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81 | { |
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82 | unsigned char Command; |
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83 | signed int GPS_Nick; |
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84 | signed int GPS_Roll; |
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85 | signed int GPS_Gier; |
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86 | signed int CompassValue; |
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87 | signed int Status; |
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88 | unsigned char BeepTime; |
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89 | union |
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90 | { char Byte[12]; |
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91 | int Int[6]; |
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92 | long Long[3]; |
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93 | float Float[3]; |
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94 | } Param; |
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95 | unsigned char Chksum; |
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96 | }; |
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97 | |||
98 | |||
99 | #ifdef USE_SPI_COMMUNICATION |
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100 | |||
101 | extern struct str_ToNaviCtrl ToNaviCtrl; |
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102 | extern struct str_FromNaviCtrl FromNaviCtrl; |
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103 | |||
104 | //#define SPI_CMD_VALUE 0x03 |
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105 | |||
106 | extern void SPI_MasterInit(void); |
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107 | extern void SPI_StartTransmitPacket(void); |
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108 | extern void UpdateSPI_Buffer(void); |
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109 | extern void SPI_TransmitByte(void); |
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110 | #else |
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111 | |||
112 | |||
113 | // -------------------------------- Dummy ----------------------------------------- |
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114 | #define SPI_MasterInit() ; |
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115 | #define SPI_StartTransmitPacket() ; |
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116 | #define UpdateSPI_Buffer() ; |
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117 | #define SPI_TransmitByte() ; |
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118 | #endif |
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119 | |||
120 | |||
121 | #endif |