Subversion Repositories FlightCtrl

Rev

Rev 991 | Rev 1036 | 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 
 
7 
#define USE_SPI_COMMUNICATION
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
16 
#define DD_MISO PB6
17 
 
18 
// for compatibility reasons gcc3.x <-> gcc4.x
19 
#ifndef SPCR  
20 
#define SPCR   SPCR0
21 
#endif    
22 
#ifndef SPE  
23 
#define SPE   SPE0
24 
#endif    
25 
#ifndef MSTR  
26 
#define MSTR   MSTR0
27 
#endif    
28 
#ifndef SPR1  
29 
#define SPR1   SPR01
30 
#endif    
31 
#ifndef SPR0  
32 
#define SPR0   SPR00
33 
#endif    
34 
#ifndef SPIE  
35 
#define SPIE   SPIE0
36 
#endif    
37 
#ifndef SPDR  
38 
#define SPDR   SPDR0
39 
#endif    
40 
#ifndef SPIF  
41 
#define SPIF   SPIF0
42 
#endif    
43 
#ifndef SPSR  
44 
#define SPSR   SPSR0
45 
#endif    
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
55 
#define SPI_CMD_CAL_COMPASS 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;
71 
 union  
72 
 { char Byte[12];
73 
   int  Int[6];
74 
   long Long[3];
75 
   float Float[3];
76 
 } Param;
77 
 unsigned char Chksum;
78 
};
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;
827 ingob 94 
  union  
95 
  { char Byte[12];
96 
    int  Int[6];
97 
    long Long[3];
98 
    float Float[3];
99 
  } Param;
100 
  unsigned char Chksum;
101 
};
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 
 
112 
#ifdef USE_SPI_COMMUNICATION
113 
 
978 hbuss 114 
extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
827 ingob 115 
extern struct str_ToNaviCtrl   ToNaviCtrl;
116 
extern struct str_FromNaviCtrl FromNaviCtrl;
921 hbuss 117 
extern unsigned char SPI_CommandCounter;
827 ingob 118 
 
119 
//#define SPI_CMD_VALUE   0x03
120 
 
121 
extern void SPI_MasterInit(void);
122 
extern void SPI_StartTransmitPacket(void);
123 
extern void UpdateSPI_Buffer(void);
124 
extern void SPI_TransmitByte(void);
125 
#else
126 
 
127 
 
128 
// -------------------------------- Dummy -----------------------------------------
129 
#define  SPI_MasterInit() ;
130 
#define  SPI_StartTransmitPacket() ;
131 
#define  UpdateSPI_Buffer() ;
132 
#define  SPI_TransmitByte() ;
133 
#endif
134 
 
135 
 
136 
#endif