Subversion Repositories FlightCtrl

Rev

Go to most recent revision | Details | Last modification | View Log | RSS feed

Rev Author Line No. Line
827 ingob 1
// ######################## SPI - FlightCtrl ###################
2
#ifndef _SPI_H
3
#define _SPI_H
4
 
886 killagreg 5
//#include <util/delay.h>
6
#include <inttypes.h>
827 ingob 7
 
886 killagreg 8
#define USE_SPI_COMMUNICATION
827 ingob 9
 
10
#define SPI_PROTOCOL_COMP   1
11
 
12
//-----------------------------------------
13
#define DDR_SPI DDRB
14
#define DD_SS   PB4
15
#define DD_SCK  PB7
16
#define DD_MOSI PB5
886 killagreg 17
#define DD_MISO PB6
827 ingob 18
 
886 killagreg 19
// for compatibility reasons gcc3.x <-> gcc4.x
20
#ifndef SPCR
827 ingob 21
#define SPCR   SPCR0
886 killagreg 22
#endif
23
#ifndef SPE
827 ingob 24
#define SPE   SPE0
886 killagreg 25
#endif
26
#ifndef MSTR
827 ingob 27
#define MSTR   MSTR0
886 killagreg 28
#endif
29
#ifndef SPR1
827 ingob 30
#define SPR1   SPR01
886 killagreg 31
#endif
32
#ifndef SPR0
827 ingob 33
#define SPR0   SPR00
886 killagreg 34
#endif
35
#ifndef SPIE
827 ingob 36
#define SPIE   SPIE0
886 killagreg 37
#endif
38
#ifndef SPDR
827 ingob 39
#define SPDR   SPDR0
886 killagreg 40
#endif
41
#ifndef SPIF
827 ingob 42
#define SPIF   SPIF0
886 killagreg 43
#endif
44
#ifndef SPSR
827 ingob 45
#define SPSR   SPSR0
886 killagreg 46
#endif
827 ingob 47
// -------------------------
48
 
49
#define SLAVE_SELECT_DDR_PORT   DDRC
50
#define SLAVE_SELECT_PORT       PORTC
51
#define SPI_SLAVE_SELECT        PC5
52
 
53
 
54
#define SPI_CMD_USER        10
55
#define SPI_CMD_STICK       11
56
#define SPI_CMD_CAL_COMPASS 12
886 killagreg 57
 
58
typedef struct
827 ingob 59
{
886 killagreg 60
        uint8_t Sync1;
61
        uint8_t Sync2;
62
        uint8_t Command;
911 killagreg 63
        int16_t IntegralNick;
886 killagreg 64
        int16_t IntegralRoll;
911 killagreg 65
        int16_t AccNick;
886 killagreg 66
        int16_t AccRoll;
67
        int16_t GyroHeading;
911 killagreg 68
        int16_t GyroNick;
886 killagreg 69
        int16_t GyroRoll;
70
        int16_t GyroYaw;
71
        union
72
        {
73
                int8_t  sByte[12];
74
                uint8_t Byte[12];
75
                int16_t Int[6];
76
                int32_t Long[3];
77
                float   Float[3];
78
        } Param;
79
        uint8_t Chksum;
80
} ToNaviCtrl_t;
827 ingob 81
 
886 killagreg 82
 
83
 
827 ingob 84
#define SPI_CMD_OSD_DATA         100
85
#define SPI_CMD_GPS_POS          101
886 killagreg 86
#define SPI_CMD_GPS_TARGET   102
87
 
88
typedef struct
827 ingob 89
{
886 killagreg 90
        uint8_t Command;
911 killagreg 91
        int16_t GPS_Nick;
886 killagreg 92
        int16_t GPS_Roll;
93
        int16_t GPS_Yaw;
94
        int16_t CompassHeading;
95
        int16_t Status;
96
        uint8_t BeepTime;
97
        union
98
        {
99
                int8_t  Byte[12];
100
                int16_t Int[6];
101
                int32_t Long[3];
102
                float   Float[3];
103
        } Param;
104
        uint8_t Chksum;
105
} FromNaviCtrl_t;
827 ingob 106
 
107
#ifdef USE_SPI_COMMUNICATION
108
 
886 killagreg 109
extern ToNaviCtrl_t   ToNaviCtrl;
110
extern FromNaviCtrl_t FromNaviCtrl;
827 ingob 111
 
112
extern void SPI_MasterInit(void);
113
extern void SPI_StartTransmitPacket(void);
114
extern void SPI_TransmitByte(void);
115
#else
116
 
117
 
118
// -------------------------------- Dummy -----------------------------------------
886 killagreg 119
#define  SPI_MasterInit() ;
827 ingob 120
#define  SPI_StartTransmitPacket() ;
121
#define  UpdateSPI_Buffer() ;
122
#define  SPI_TransmitByte() ;
123
#endif
124
 
125
 
886 killagreg 126
#endif //_SPI_H