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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2751 | - | 1 | // ######################## SPI - FlightCtrl ################### |
| 2 | #ifndef _SPI_H |
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| 3 | #define _SPI_H |
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| 4 | |||
| 5 | //#define USE_SPI_COMMUNICATION |
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| 6 | |||
| 7 | #define SPI_PROTOCOL_COMP 1 |
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| 8 | |||
| 9 | //----------------------------------------- |
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| 10 | #define DDR_SPI DDRB |
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| 11 | #define DD_SS PB4 |
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| 12 | #define DD_SCK PB7 |
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| 13 | #define DD_MOSI PB5 |
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| 14 | #define DD_MISO PB6 |
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| 15 | |||
| 16 | // for compatibility reasons gcc3.x <-> gcc4.x |
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| 17 | #ifndef SPCR |
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| 18 | #define SPCR SPCR0 |
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| 19 | #endif |
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| 20 | #ifndef SPE |
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| 21 | #define SPE SPE0 |
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| 22 | #endif |
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| 23 | #ifndef MSTR |
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| 24 | #define MSTR MSTR0 |
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| 25 | #endif |
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| 26 | #ifndef SPR1 |
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| 27 | #define SPR1 SPR01 |
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| 28 | #endif |
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| 29 | #ifndef SPR0 |
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| 30 | #define SPR0 SPR00 |
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| 31 | #endif |
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| 32 | #ifndef SPIE |
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| 33 | #define SPIE SPIE0 |
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| 34 | #endif |
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| 35 | #ifndef SPDR |
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| 36 | #define SPDR SPDR0 |
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| 37 | #endif |
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| 38 | #ifndef SPIF |
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| 39 | #define SPIF SPIF0 |
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| 40 | #endif |
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| 41 | #ifndef SPSR |
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| 42 | #define SPSR SPSR0 |
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| 43 | #endif |
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| 44 | // ------------------------- |
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| 45 | |||
| 46 | #define SLAVE_SELECT_DDR_PORT DDRC |
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| 47 | #define SLAVE_SELECT_PORT PORTC |
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| 48 | #define SPI_SLAVE_SELECT PC5 |
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| 49 | |||
| 50 | struct str_ToNaviCtrl |
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| 51 | { |
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| 52 | unsigned char Sync1, Sync2; |
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| 53 | unsigned char Comp; |
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| 54 | int IntegralNick; |
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| 55 | int IntegralRoll; |
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| 56 | char StickNick,StickRoll,StickGier; |
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| 57 | unsigned char ChkSum; |
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| 58 | }; |
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| 59 | |||
| 60 | struct str_FromNaviCtrl |
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| 61 | { |
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| 62 | unsigned int Dummy; |
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| 63 | unsigned char Comp; |
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| 64 | int GPS_Nick; |
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| 65 | int GPS_Roll; |
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| 66 | int CompassValue; |
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| 67 | }; |
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| 68 | |||
| 69 | #ifdef USE_SPI_COMMUNICATION |
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| 70 | extern struct str_ToNaviCtrl ToNaviCtrl; |
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| 71 | extern struct str_FromNaviCtrl FromNaviCtrl; |
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| 72 | |||
| 73 | |||
| 74 | extern void SPI_MasterInit(void); |
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| 75 | extern void SPI_StartTransmitPacket(void); |
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| 76 | extern void UpdateSPI_Buffer(void); |
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| 77 | extern void SPI_TransmitByte(void); |
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| 78 | #else |
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| 79 | |||
| 80 | |||
| 81 | // -------------------------------- Dummy ----------------------------------------- |
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| 82 | #define SPI_MasterInit() ; |
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| 83 | #define SPI_StartTransmitPacket() ; |
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| 84 | #define UpdateSPI_Buffer() ; |
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| 85 | #define SPI_TransmitByte() ; |
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| 86 | #endif |
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| 87 | |||
| 88 | |||
| 89 | #endif |