Subversion Repositories FlightCtrl

// ######################## 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 IntegralPitch;
        int16_t IntegralRoll;
        int16_t AccPitch;
        int16_t AccRoll;
        int16_t GyroHeading;
        int16_t GyroPitch;
        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_Pitch;
        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