WebSVN - FlightCtrl - Diff - Rev 903 and 916 - /branches/V0.69k CRK HexaLotte/spi.h


// ######################## SPI - FlightCtrl ###################
#ifndef _SPI_H
#define _SPI_H
 
//#include <util/delay.h>
#include <inttypes.h>
 
#define USE_SPI_COMMUNICATION
 
#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
 
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;
        uint8_t BeepTime;
        union
        {
                int8_t  Byte[12];
                int16_t Int[6];
                int32_t Long[3];
                float   Float[3];
        } Param;
        uint8_t Chksum;
} FromNaviCtrl_t;
 
#ifdef USE_SPI_COMMUNICATION
 
extern ToNaviCtrl_t   ToNaviCtrl;
extern FromNaviCtrl_t FromNaviCtrl;
 
extern void SPI_MasterInit(void);
extern void SPI_StartTransmitPacket(void);
extern void SPI_TransmitByte(void);
#else
 
 
// -------------------------------- Dummy -----------------------------------------
#define  SPI_MasterInit() ;
#define  SPI_StartTransmitPacket() ;
#define  UpdateSPI_Buffer() ;
#define  SPI_TransmitByte() ;
#endif
 
 
#endif //_SPI_H
 

Rev 903	Rev 916
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	#define USE_SPI_COMMUNICATION	8	#define USE_SPI_COMMUNICATION
9		9
10	#define SPI_PROTOCOL_COMP 1	10	#define SPI_PROTOCOL_COMP 1
11		11
12	//-----------------------------------------	12	//-----------------------------------------
13	#define DDR_SPI DDRB	13	#define DDR_SPI DDRB
14	#define DD_SS PB4	14	#define DD_SS PB4
15	#define DD_SCK PB7	15	#define DD_SCK PB7
16	#define DD_MOSI PB5	16	#define DD_MOSI PB5
17	#define DD_MISO PB6	17	#define DD_MISO PB6
18		18
19	// for compatibility reasons gcc3.x <-> gcc4.x	19	// for compatibility reasons gcc3.x <-> gcc4.x
20	#ifndef SPCR	20	#ifndef SPCR
21	#define SPCR SPCR0	21	#define SPCR SPCR0
22	#endif	22	#endif
23	#ifndef SPE	23	#ifndef SPE
24	#define SPE SPE0	24	#define SPE SPE0
25	#endif	25	#endif
26	#ifndef MSTR	26	#ifndef MSTR
27	#define MSTR MSTR0	27	#define MSTR MSTR0
28	#endif	28	#endif
29	#ifndef SPR1	29	#ifndef SPR1
30	#define SPR1 SPR01	30	#define SPR1 SPR01
31	#endif	31	#endif
32	#ifndef SPR0	32	#ifndef SPR0
33	#define SPR0 SPR00	33	#define SPR0 SPR00
34	#endif	34	#endif
35	#ifndef SPIE	35	#ifndef SPIE
36	#define SPIE SPIE0	36	#define SPIE SPIE0
37	#endif	37	#endif
38	#ifndef SPDR	38	#ifndef SPDR
39	#define SPDR SPDR0	39	#define SPDR SPDR0
40	#endif	40	#endif
41	#ifndef SPIF	41	#ifndef SPIF
42	#define SPIF SPIF0	42	#define SPIF SPIF0
43	#endif	43	#endif
44	#ifndef SPSR	44	#ifndef SPSR
45	#define SPSR SPSR0	45	#define SPSR SPSR0
46	#endif	46	#endif
47	// -------------------------	47	// -------------------------
48		48
49	#define SLAVE_SELECT_DDR_PORT DDRC	49	#define SLAVE_SELECT_DDR_PORT DDRC
50	#define SLAVE_SELECT_PORT PORTC	50	#define SLAVE_SELECT_PORT PORTC
51	#define SPI_SLAVE_SELECT PC5	51	#define SPI_SLAVE_SELECT PC5
52		52
53		53
54	#define SPI_CMD_USER 10	54	#define SPI_CMD_USER 10
55	#define SPI_CMD_STICK 11	55	#define SPI_CMD_STICK 11
56	#define SPI_CMD_CAL_COMPASS 12	56	#define SPI_CMD_CAL_COMPASS 12
57		57
58	typedef struct	58	typedef struct
59	{	59	{
60	uint8_t Sync1;	60	uint8_t Sync1;
61	uint8_t Sync2;	61	uint8_t Sync2;
62	uint8_t Command;	62	uint8_t Command;
63	int16_t IntegralPitch;	63	int16_t IntegralNick;
64	int16_t IntegralRoll;	64	int16_t IntegralRoll;
65	int16_t AccPitch;	65	int16_t AccNick;
66	int16_t AccRoll;	66	int16_t AccRoll;
67	int16_t GyroHeading;	67	int16_t GyroHeading;
68	int16_t GyroPitch;	68	int16_t GyroNick;
69	int16_t GyroRoll;	69	int16_t GyroRoll;
70	int16_t GyroYaw;	70	int16_t GyroYaw;
71	union	71	union
72	{	72	{
73	int8_t sByte[12];	73	int8_t sByte[12];
74	uint8_t Byte[12];	74	uint8_t Byte[12];
75	int16_t Int[6];	75	int16_t Int[6];
76	int32_t Long[3];	76	int32_t Long[3];
77	float Float[3];	77	float Float[3];
78	} Param;	78	} Param;
79	uint8_t Chksum;	79	uint8_t Chksum;
80	} ToNaviCtrl_t;	80	} ToNaviCtrl_t;
81		81
82		82
83		83
84	#define SPI_CMD_OSD_DATA 100	84	#define SPI_CMD_OSD_DATA 100
85	#define SPI_CMD_GPS_POS 101	85	#define SPI_CMD_GPS_POS 101
86	#define SPI_CMD_GPS_TARGET 102	86	#define SPI_CMD_GPS_TARGET 102
87		87
88	typedef struct	88	typedef struct
89	{	89	{
90	uint8_t Command;	90	uint8_t Command;
91	int16_t GPS_Pitch;	91	int16_t GPS_Nick;
92	int16_t GPS_Roll;	92	int16_t GPS_Roll;
93	int16_t GPS_Yaw;	93	int16_t GPS_Yaw;
94	int16_t CompassHeading;	94	int16_t CompassHeading;
95	int16_t Status;	95	int16_t Status;
96	uint8_t BeepTime;	96	uint8_t BeepTime;
97	union	97	union
98	{	98	{
99	int8_t Byte[12];	99	int8_t Byte[12];
100	int16_t Int[6];	100	int16_t Int[6];
101	int32_t Long[3];	101	int32_t Long[3];
102	float Float[3];	102	float Float[3];
103	} Param;	103	} Param;
104	uint8_t Chksum;	104	uint8_t Chksum;
105	} FromNaviCtrl_t;	105	} FromNaviCtrl_t;
106		106
107	#ifdef USE_SPI_COMMUNICATION	107	#ifdef USE_SPI_COMMUNICATION
108		108
109	extern ToNaviCtrl_t ToNaviCtrl;	109	extern ToNaviCtrl_t ToNaviCtrl;
110	extern FromNaviCtrl_t FromNaviCtrl;	110	extern FromNaviCtrl_t FromNaviCtrl;
111		111
112	extern void SPI_MasterInit(void);	112	extern void SPI_MasterInit(void);
113	extern void SPI_StartTransmitPacket(void);	113	extern void SPI_StartTransmitPacket(void);
114	extern void SPI_TransmitByte(void);	114	extern void SPI_TransmitByte(void);
115	#else	115	#else
116		116
117		117
118	// -------------------------------- Dummy -----------------------------------------	118	// -------------------------------- Dummy -----------------------------------------
119	#define SPI_MasterInit() ;	119	#define SPI_MasterInit() ;
120	#define SPI_StartTransmitPacket() ;	120	#define SPI_StartTransmitPacket() ;
121	#define UpdateSPI_Buffer() ;	121	#define UpdateSPI_Buffer() ;
122	#define SPI_TransmitByte() ;	122	#define SPI_TransmitByte() ;
123	#endif	123	#endif
124		124
125		125
126	#endif //_SPI_H	126	#endif //_SPI_H
127		127

Subversion Repositories FlightCtrl

(root)/branches/V0.69k CRK HexaLotte/spi.h - Rev 903 → 916