Subversion Repositories FlightCtrl

Rev

Rev 1179 | 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 
 
886 killagreg 5 
//#include <util/delay.h>
6 
#include <inttypes.h>
827 ingob 7 
 
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
886 killagreg 16 
#define DD_MISO PB6
827 ingob 17 
 
886 killagreg 18 
// for compatibility reasons gcc3.x <-> gcc4.x
19 
#ifndef SPCR
827 ingob 20 
#define SPCR   SPCR0
886 killagreg 21 
#endif
22 
#ifndef SPE
827 ingob 23 
#define SPE   SPE0
886 killagreg 24 
#endif
25 
#ifndef MSTR
827 ingob 26 
#define MSTR   MSTR0
886 killagreg 27 
#endif
28 
#ifndef SPR1
827 ingob 29 
#define SPR1   SPR01
886 killagreg 30 
#endif
31 
#ifndef SPR0
827 ingob 32 
#define SPR0   SPR00
886 killagreg 33 
#endif
34 
#ifndef SPIE
827 ingob 35 
#define SPIE   SPIE0
886 killagreg 36 
#endif
37 
#ifndef SPDR
827 ingob 38 
#define SPDR   SPDR0
886 killagreg 39 
#endif
40 
#ifndef SPIF
827 ingob 41 
#define SPIF   SPIF0
886 killagreg 42 
#endif
43 
#ifndef SPSR
827 ingob 44 
#define SPSR   SPSR0
886 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
1078 killagreg 55 
#define SPI_CMD_MISC            12
936 killagreg 56 
#define SPI_CMD_PARAMETER1      13
1078 killagreg 57 
#define SPI_CMD_VERSION         14
886 killagreg 58 
 
59 
typedef struct
827 ingob 60 
{
886 killagreg 61 
        uint8_t Sync1;
62 
        uint8_t Sync2;
63 
        uint8_t Command;
911 killagreg 64 
        int16_t IntegralNick;
886 killagreg 65 
        int16_t IntegralRoll;
911 killagreg 66 
        int16_t AccNick;
886 killagreg 67 
        int16_t AccRoll;
68 
        int16_t GyroHeading;
911 killagreg 69 
        int16_t GyroNick;
886 killagreg 70 
        int16_t GyroRoll;
71 
        int16_t GyroYaw;
72 
        union
73 
        {
74 
                int8_t  sByte[12];
75 
                uint8_t Byte[12];
76 
                int16_t Int[6];
77 
                int32_t Long[3];
78 
                float   Float[3];
79 
        } Param;
80 
        uint8_t Chksum;
1078 killagreg 81 
} __attribute__((packed)) ToNaviCtrl_t;
827 ingob 82 
 
886 killagreg 83 
 
84 
 
1078 killagreg 85 
#define SPI_CMD_OSD_DATA        100
86 
#define SPI_CMD_GPS_POS         101
87 
#define SPI_CMD_GPS_TARGET      102
88 
#define SPI_KALMAN                      103
886 killagreg 89 
 
90 
typedef struct
827 ingob 91 
{
886 killagreg 92 
        uint8_t Command;
1180 killagreg 93 
        int16_t GPSStickNick;
94 
        int16_t GPSStickRoll;
886 killagreg 95 
        int16_t GPS_Yaw;
96 
        int16_t CompassHeading;
97 
        int16_t Status;
936 killagreg 98 
        uint16_t BeepTime;
886 killagreg 99 
        union
100 
        {
101 
                int8_t  Byte[12];
102 
                int16_t Int[6];
103 
                int32_t Long[3];
104 
                float   Float[3];
105 
        } Param;
106 
        uint8_t Chksum;
1078 killagreg 107 
} __attribute__((packed)) FromNaviCtrl_t;
827 ingob 108 
 
109 
 
1078 killagreg 110 
typedef struct
111 
{
112 
        uint8_t Major;
113 
        uint8_t Minor;
114 
        uint8_t Patch;
115 
        uint8_t Compatible;
116 
} __attribute__((packed)) SPI_VersionInfo_t;
117 
 
118 
 
119 
extern ToNaviCtrl_t                     ToNaviCtrl;
120 
extern FromNaviCtrl_t                   FromNaviCtrl;
121 
 
936 killagreg 122 
void SPI_MasterInit(void);
123 
void SPI_StartTransmitPacket(void);
124 
void SPI_TransmitByte(void);
827 ingob 125 
 
126 
 
127 
 
886 killagreg 128 
#endif //_SPI_H