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Rev | Author | Line No. | Line |
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758 | walter | 1 | // ######################## SPI - FlightCtrl ################### |
2 | #ifndef _SPI_H |
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3 | #define _SPI_H |
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4 | |||
5 | //#define USE_SPI_COMMUNICATION |
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6 | |||
7 | #define SPI_PROTOCOL_COMP 1 |
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8 | |||
9 | //----------------------------------------- |
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10 | #define DDR_SPI DDRB |
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11 | #define DD_SS PB4 |
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12 | #define DD_SCK PB7 |
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13 | #define DD_MOSI PB5 |
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14 | #define DD_MISO PB6 |
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15 | |||
16 | // for compatibility reasons gcc3.x <-> gcc4.x |
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17 | #ifndef SPCR |
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18 | #define SPCR SPCR0 |
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19 | #endif |
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20 | #ifndef SPE |
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21 | #define SPE SPE0 |
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22 | #endif |
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23 | #ifndef MSTR |
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24 | #define MSTR MSTR0 |
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25 | #endif |
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26 | #ifndef SPR1 |
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27 | #define SPR1 SPR01 |
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28 | #endif |
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29 | #ifndef SPR0 |
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30 | #define SPR0 SPR00 |
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31 | #endif |
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32 | #ifndef SPIE |
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33 | #define SPIE SPIE0 |
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34 | #endif |
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35 | #ifndef SPDR |
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36 | #define SPDR SPDR0 |
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37 | #endif |
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38 | #ifndef SPIF |
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39 | #define SPIF SPIF0 |
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40 | #endif |
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41 | #ifndef SPSR |
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42 | #define SPSR SPSR0 |
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43 | #endif |
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44 | // ------------------------- |
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45 | |||
46 | #define SLAVE_SELECT_DDR_PORT DDRC |
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47 | #define SLAVE_SELECT_PORT PORTC |
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48 | #define SPI_SLAVE_SELECT PC5 |
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49 | |||
50 | struct str_ToNaviCtrl |
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51 | { |
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52 | unsigned char Sync1, Sync2; |
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53 | unsigned char Comp; |
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54 | int IntegralNick; |
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55 | int IntegralRoll; |
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56 | char StickNick,StickRoll,StickGier; |
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57 | unsigned char ChkSum; |
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58 | }; |
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59 | |||
60 | struct str_FromNaviCtrl |
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61 | { |
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62 | unsigned int Dummy; |
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63 | unsigned char Comp; |
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64 | int GPS_Nick; |
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65 | int GPS_Roll; |
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66 | int CompassValue; |
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67 | }; |
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68 | |||
69 | #ifdef USE_SPI_COMMUNICATION |
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70 | extern struct str_ToNaviCtrl ToNaviCtrl; |
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71 | extern struct str_FromNaviCtrl FromNaviCtrl; |
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72 | |||
73 | |||
74 | extern void SPI_MasterInit(void); |
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75 | extern void SPI_StartTransmitPacket(void); |
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76 | extern void UpdateSPI_Buffer(void); |
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77 | extern void SPI_TransmitByte(void); |
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78 | #else |
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79 | |||
80 | |||
81 | // -------------------------------- Dummy ----------------------------------------- |
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82 | #define SPI_MasterInit() ; |
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83 | #define SPI_StartTransmitPacket() ; |
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84 | #define UpdateSPI_Buffer() ; |
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85 | #define SPI_TransmitByte() ; |
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86 | #endif |
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87 | |||
88 | |||
89 | #endif |