Subversion Repositories FlightCtrl

Rev

Rev 1036 | Rev 1083 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

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