Subversion Repositories FlightCtrl

Rev

Rev 1226 | 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
 
992 hbuss 80
#define SPI_KALMAN           103
81
 
827 ingob 82
struct str_FromNaviCtrl
83
{
84
 unsigned char Command;
85
  signed int  GPS_Nick;
86
  signed int  GPS_Roll;
87
  signed int  GPS_Gier;
88
  signed int  CompassValue;
89
  signed int  Status;
989 hbuss 90
  unsigned int BeepTime;
1051 killagreg 91
  union
827 ingob 92
  { char Byte[12];
93
    int  Int[6];
94
    long Long[3];
95
    float Float[3];
96
  } Param;
97
  unsigned char Chksum;
1051 killagreg 98
};
827 ingob 99
 
978 hbuss 100
struct str_FromNaviCtrl_Value
101
{
992 hbuss 102
 signed char Kalman_K;
103
 signed char Kalman_MaxDrift;
104
 signed char Kalman_MaxFusion;
1215 hbuss 105
 unsigned char SerialDataOkay;
978 hbuss 106
};
827 ingob 107
 
1051 killagreg 108
struct str_SPI_VersionInfo
109
{
110
  unsigned char Major;
111
  unsigned char Minor;
112
  unsigned char Patch;
113
  unsigned char Compatible;
114
};
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;
1215 hbuss 121
extern unsigned char SPI_CommandCounter,NaviDataOkay;
827 ingob 122
 
123
//#define SPI_CMD_VALUE   0x03
124
 
125
extern void SPI_MasterInit(void);
126
extern void SPI_StartTransmitPacket(void);
127
extern void UpdateSPI_Buffer(void);
128
extern void SPI_TransmitByte(void);
129
#else
130
 
131
 
132
// -------------------------------- Dummy -----------------------------------------
1051 killagreg 133
#define  SPI_MasterInit() ;
827 ingob 134
#define  SPI_StartTransmitPacket() ;
135
#define  UpdateSPI_Buffer() ;
136
#define  SPI_TransmitByte() ;
137
#endif
138
 
139
 
140
#endif