WebSVN - FlightCtrl - Diff - Rev 1180 and 1187 - /branches/V0.72p Code Redesign killagreg/spi.h


// ######################## 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 SPIE
#define SPIE   SPIE0
#endif
#ifndef SPE
#define SPE    SPE0
#endif
#ifdef  DORD
#define DORD   DORD0
#endif
#ifndef MSTR
#define MSTR   MSTR0
#endif
#ifndef CPOL
#define CPOL   CPOL0
#endif
#ifndef CPHA
#define CPHA   CPHA0
#endif
#ifndef SPR1
#define SPR1   SPR01
#endif
#ifndef SPR0
#define SPR0   SPR00
#endif
 
 
 
#ifndef SPDR
#define SPDR   SPDR0
#endif
 
#ifndef SPSR
#define SPSR   SPSR0
#endif
#ifndef SPIF
#define SPIF   SPIF0
#endif
#ifndef WCOL
#define WCOL   WCOL0
#endif
#ifndef SPI2X
#define SPI2X  SPI2X0
#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_MISC            12
#define SPI_CMD_PARAMETER1      13
#define SPI_CMD_VERSION         14
 
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;
} __attribute__((packed)) ToNaviCtrl_t;
 
 
 
#define SPI_CMD_OSD_DATA        100
#define SPI_CMD_GPS_POS         101
#define SPI_CMD_GPS_TARGET      102
#define SPI_KALMAN                      103
 
typedef struct
{
        uint8_t Command;
        int16_t GPSStickNick;
        int16_t GPSStickRoll;
        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;
} __attribute__((packed)) FromNaviCtrl_t;
 
 
typedef struct
{
        uint8_t Major;
        uint8_t Minor;
        uint8_t Patch;
        uint8_t Compatible;
} __attribute__((packed)) SPI_VersionInfo_t;
 
 
extern ToNaviCtrl_t                     ToNaviCtrl;
extern FromNaviCtrl_t                   FromNaviCtrl;
 
void SPI_MasterInit(void);
void SPI_StartTransmitPacket(void);
void SPI_TransmitByte(void);
 
 
 
#endif //_SPI_H
 

Rev 1180	Rev 1187
1	// ######################## SPI - FlightCtrl ###################	1	// ######################## SPI - FlightCtrl ###################
2	#ifndef _SPI_H	2	#ifndef _SPI_H
3	#define _SPI_H	3	#define _SPI_H
4		4
5	//#include <util/delay.h>	5	//#include <util/delay.h>
6	#include <inttypes.h>	6	#include <inttypes.h>
7		7
8		8
9	#define SPI_PROTOCOL_COMP 1	9	#define SPI_PROTOCOL_COMP 1
10		10
11	//-----------------------------------------	11	//-----------------------------------------
12	#define DDR_SPI DDRB	12	#define DDR_SPI DDRB
13	#define DD_SS PB4	13	#define DD_SS PB4
14	#define DD_SCK PB7	14	#define DD_SCK PB7
15	#define DD_MOSI PB5	15	#define DD_MOSI PB5
16	#define DD_MISO PB6	16	#define DD_MISO PB6
17		17
18	// for compatibility reasons gcc3.x <-> gcc4.x	18	// for compatibility reasons gcc3.x <-> gcc4.x
19	#ifndef SPCR	19	#ifndef SPCR
20	#define SPCR SPCR0	20	#define SPCR SPCR0
21	#endif	21	#endif
-		22	#ifndef SPIE
-		23	#define SPIE SPIE0
-		24	#endif
22	#ifndef SPE	25	#ifndef SPE
23	#define SPE SPE0	26	#define SPE SPE0
-		27	#endif
-		28	#ifdef DORD
-		29	#define DORD DORD0
24	#endif	30	#endif
25	#ifndef MSTR	31	#ifndef MSTR
26	#define MSTR MSTR0	32	#define MSTR MSTR0
27	#endif	33	#endif
-		34	#ifndef CPOL
-		35	#define CPOL CPOL0
-		36	#endif
-		37	#ifndef CPHA
-		38	#define CPHA CPHA0
-		39	#endif
28	#ifndef SPR1	40	#ifndef SPR1
29	#define SPR1 SPR01	41	#define SPR1 SPR01
30	#endif	42	#endif
31	#ifndef SPR0	43	#ifndef SPR0
32	#define SPR0 SPR00	44	#define SPR0 SPR00
33	#endif	45	#endif
34	#ifndef SPIE	-
35	#define SPIE SPIE0	-
36	#endif	46
37	#ifndef SPDR	47	#ifndef SPDR
38	#define SPDR SPDR0	48	#define SPDR SPDR0
39	#endif	49	#endif
-		50
-		51	#ifndef SPSR
-		52	#define SPSR SPSR0
-		53	#endif
40	#ifndef SPIF	54	#ifndef SPIF
41	#define SPIF SPIF0	55	#define SPIF SPIF0
42	#endif	56	#endif
-		57	#ifndef WCOL
-		58	#define WCOL WCOL0
-		59	#endif
43	#ifndef SPSR	60	#ifndef SPI2X
44	#define SPSR SPSR0	61	#define SPI2X SPI2X0
45	#endif	62	#endif
46	// -------------------------	63	// -------------------------
47		64
48	#define SLAVE_SELECT_DDR_PORT DDRC	65	#define SLAVE_SELECT_DDR_PORT DDRC
49	#define SLAVE_SELECT_PORT PORTC	66	#define SLAVE_SELECT_PORT PORTC
50	#define SPI_SLAVE_SELECT PC5	67	#define SPI_SLAVE_SELECT PC5
51		68
52		69
53	#define SPI_CMD_USER 10	70	#define SPI_CMD_USER 10
54	#define SPI_CMD_STICK 11	71	#define SPI_CMD_STICK 11
55	#define SPI_CMD_MISC 12	72	#define SPI_CMD_MISC 12
56	#define SPI_CMD_PARAMETER1 13	73	#define SPI_CMD_PARAMETER1 13
57	#define SPI_CMD_VERSION 14	74	#define SPI_CMD_VERSION 14
58		75
59	typedef struct	76	typedef struct
60	{	77	{
61	uint8_t Sync1;	78	uint8_t Sync1;
62	uint8_t Sync2;	79	uint8_t Sync2;
63	uint8_t Command;	80	uint8_t Command;
64	int16_t IntegralNick;	81	int16_t IntegralNick;
65	int16_t IntegralRoll;	82	int16_t IntegralRoll;
66	int16_t AccNick;	83	int16_t AccNick;
67	int16_t AccRoll;	84	int16_t AccRoll;
68	int16_t GyroHeading;	85	int16_t GyroHeading;
69	int16_t GyroNick;	86	int16_t GyroNick;
70	int16_t GyroRoll;	87	int16_t GyroRoll;
71	int16_t GyroYaw;	88	int16_t GyroYaw;
72	union	89	union
73	{	90	{
74	int8_t sByte[12];	91	int8_t sByte[12];
75	uint8_t Byte[12];	92	uint8_t Byte[12];
76	int16_t Int[6];	93	int16_t Int[6];
77	int32_t Long[3];	94	int32_t Long[3];
78	float Float[3];	95	float Float[3];
79	} Param;	96	} Param;
80	uint8_t Chksum;	97	uint8_t Chksum;
81	} __attribute__((packed)) ToNaviCtrl_t;	98	} __attribute__((packed)) ToNaviCtrl_t;
82		99
83		100
84		101
85	#define SPI_CMD_OSD_DATA 100	102	#define SPI_CMD_OSD_DATA 100
86	#define SPI_CMD_GPS_POS 101	103	#define SPI_CMD_GPS_POS 101
87	#define SPI_CMD_GPS_TARGET 102	104	#define SPI_CMD_GPS_TARGET 102
88	#define SPI_KALMAN 103	105	#define SPI_KALMAN 103
89		106
90	typedef struct	107	typedef struct
91	{	108	{
92	uint8_t Command;	109	uint8_t Command;
93	int16_t GPSStickNick;	110	int16_t GPSStickNick;
94	int16_t GPSStickRoll;	111	int16_t GPSStickRoll;
95	int16_t GPS_Yaw;	112	int16_t GPS_Yaw;
96	int16_t CompassHeading;	113	int16_t CompassHeading;
97	int16_t Status;	114	int16_t Status;
98	uint16_t BeepTime;	115	uint16_t BeepTime;
99	union	116	union
100	{	117	{
101	int8_t Byte[12];	118	int8_t Byte[12];
102	int16_t Int[6];	119	int16_t Int[6];
103	int32_t Long[3];	120	int32_t Long[3];
104	float Float[3];	121	float Float[3];
105	} Param;	122	} Param;
106	uint8_t Chksum;	123	uint8_t Chksum;
107	} __attribute__((packed)) FromNaviCtrl_t;	124	} __attribute__((packed)) FromNaviCtrl_t;
108		125
109		126
110	typedef struct	127	typedef struct
111	{	128	{
112	uint8_t Major;	129	uint8_t Major;
113	uint8_t Minor;	130	uint8_t Minor;
114	uint8_t Patch;	131	uint8_t Patch;
115	uint8_t Compatible;	132	uint8_t Compatible;
116	} __attribute__((packed)) SPI_VersionInfo_t;	133	} __attribute__((packed)) SPI_VersionInfo_t;
117		134
118		135
119	extern ToNaviCtrl_t ToNaviCtrl;	136	extern ToNaviCtrl_t ToNaviCtrl;
120	extern FromNaviCtrl_t FromNaviCtrl;	137	extern FromNaviCtrl_t FromNaviCtrl;
121		138
122	void SPI_MasterInit(void);	139	void SPI_MasterInit(void);
123	void SPI_StartTransmitPacket(void);	140	void SPI_StartTransmitPacket(void);
124	void SPI_TransmitByte(void);	141	void SPI_TransmitByte(void);
125		142
126		143
127		144
128	#endif //_SPI_H	145	#endif //_SPI_H
129		146

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(root)/branches/V0.72p Code Redesign killagreg/spi.h @ 1193 - Rev 1180 → 1187