| 0,0 → 1,117 |
|---|
| // ######################## SPI - FlightCtrl ################### |
| #ifndef _SPI_H |
| #define _SPI_H |
| |
| //#include <util/delay.h> |
| #include <inttypes.h> |
| |
| |
| #define SPI_PROTOCOL_COMP 1 |
| |
| //----------------------------------------- |
| #define DDR_SPI DDRB |
| #define DD_SS PB4 |
| #define DD_SCK PB7 |
| #define DD_MOSI PB5 |
| #define DD_MISO PB6 |
| |
| // for compatibility reasons gcc3.x <-> gcc4.x |
| #ifndef SPCR |
| #define SPCR SPCR0 |
| #endif |
| #ifndef SPE |
| #define SPE SPE0 |
| #endif |
| #ifndef MSTR |
| #define MSTR MSTR0 |
| #endif |
| #ifndef SPR1 |
| #define SPR1 SPR01 |
| #endif |
| #ifndef SPR0 |
| #define SPR0 SPR00 |
| #endif |
| #ifndef SPIE |
| #define SPIE SPIE0 |
| #endif |
| #ifndef SPDR |
| #define SPDR SPDR0 |
| #endif |
| #ifndef SPIF |
| #define SPIF SPIF0 |
| #endif |
| #ifndef SPSR |
| #define SPSR SPSR0 |
| #endif |
| // ------------------------- |
| |
| #define SLAVE_SELECT_DDR_PORT DDRC |
| #define SLAVE_SELECT_PORT PORTC |
| #define SPI_SLAVE_SELECT PC5 |
| |
| |
| #define SPI_CMD_USER 10 |
| #define SPI_CMD_STICK 11 |
| #define SPI_CMD_CAL_COMPASS 12 |
| #define SPI_CMD_PARAMETER1 13 |
| |
| typedef struct |
| { |
| uint8_t Sync1; |
| uint8_t Sync2; |
| uint8_t Command; |
| int16_t IntegralNick; |
| int16_t IntegralRoll; |
| int16_t AccNick; |
| int16_t AccRoll; |
| int16_t GyroHeading; |
| int16_t GyroNick; |
| int16_t GyroRoll; |
| int16_t GyroYaw; |
| union |
| { |
| int8_t sByte[12]; |
| uint8_t Byte[12]; |
| int16_t Int[6]; |
| int32_t Long[3]; |
| float Float[3]; |
| } Param; |
| uint8_t Chksum; |
| } ToNaviCtrl_t; |
| |
| |
| |
| #define SPI_CMD_OSD_DATA 100 |
| #define SPI_CMD_GPS_POS 101 |
| #define SPI_CMD_GPS_TARGET 102 |
| |
| typedef struct |
| { |
| uint8_t Command; |
| int16_t GPS_Nick; |
| int16_t GPS_Roll; |
| int16_t GPS_Yaw; |
| int16_t CompassHeading; |
| int16_t Status; |
| uint16_t BeepTime; |
| union |
| { |
| int8_t Byte[12]; |
| int16_t Int[6]; |
| int32_t Long[3]; |
| float Float[3]; |
| } Param; |
| uint8_t Chksum; |
| } FromNaviCtrl_t; |
| |
| |
| extern ToNaviCtrl_t ToNaviCtrl; |
| extern FromNaviCtrl_t FromNaviCtrl; |
| |
| void SPI_MasterInit(void); |
| void SPI_StartTransmitPacket(void); |
| void SPI_TransmitByte(void); |
| |
| |
| |
| #endif //_SPI_H |