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Rev | Author | Line No. | Line |
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827 | ingob | 1 | // ######################## SPI - FlightCtrl ################### |
2 | #ifndef _SPI_H |
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3 | #define _SPI_H |
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4 | |||
886 | killagreg | 5 | //#include <util/delay.h> |
6 | #include <inttypes.h> |
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827 | ingob | 7 | |
8 | |||
9 | #define SPI_PROTOCOL_COMP 1 |
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10 | |||
11 | //----------------------------------------- |
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12 | #define DDR_SPI DDRB |
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13 | #define DD_SS PB4 |
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14 | #define DD_SCK PB7 |
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15 | #define DD_MOSI PB5 |
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886 | killagreg | 16 | #define DD_MISO PB6 |
827 | ingob | 17 | |
886 | killagreg | 18 | // for compatibility reasons gcc3.x <-> gcc4.x |
19 | #ifndef SPCR |
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827 | ingob | 20 | #define SPCR SPCR0 |
886 | killagreg | 21 | #endif |
1187 | killagreg | 22 | #ifndef SPIE |
23 | #define SPIE SPIE0 |
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24 | #endif |
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886 | killagreg | 25 | #ifndef SPE |
1187 | killagreg | 26 | #define SPE SPE0 |
886 | killagreg | 27 | #endif |
1187 | killagreg | 28 | #ifdef DORD |
29 | #define DORD DORD0 |
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30 | #endif |
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886 | killagreg | 31 | #ifndef MSTR |
827 | ingob | 32 | #define MSTR MSTR0 |
886 | killagreg | 33 | #endif |
1187 | killagreg | 34 | #ifndef CPOL |
35 | #define CPOL CPOL0 |
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36 | #endif |
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37 | #ifndef CPHA |
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38 | #define CPHA CPHA0 |
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39 | #endif |
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886 | killagreg | 40 | #ifndef SPR1 |
827 | ingob | 41 | #define SPR1 SPR01 |
886 | killagreg | 42 | #endif |
43 | #ifndef SPR0 |
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827 | ingob | 44 | #define SPR0 SPR00 |
886 | killagreg | 45 | #endif |
1187 | killagreg | 46 | |
886 | killagreg | 47 | #ifndef SPDR |
827 | ingob | 48 | #define SPDR SPDR0 |
886 | killagreg | 49 | #endif |
1187 | killagreg | 50 | |
51 | #ifndef SPSR |
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52 | #define SPSR SPSR0 |
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53 | #endif |
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886 | killagreg | 54 | #ifndef SPIF |
827 | ingob | 55 | #define SPIF SPIF0 |
886 | killagreg | 56 | #endif |
1187 | killagreg | 57 | #ifndef WCOL |
58 | #define WCOL WCOL0 |
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886 | killagreg | 59 | #endif |
1187 | killagreg | 60 | #ifndef SPI2X |
61 | #define SPI2X SPI2X0 |
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62 | #endif |
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827 | ingob | 63 | // ------------------------- |
64 | |||
65 | #define SLAVE_SELECT_DDR_PORT DDRC |
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66 | #define SLAVE_SELECT_PORT PORTC |
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67 | #define SPI_SLAVE_SELECT PC5 |
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68 | |||
69 | |||
70 | #define SPI_CMD_USER 10 |
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71 | #define SPI_CMD_STICK 11 |
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1078 | killagreg | 72 | #define SPI_CMD_MISC 12 |
936 | killagreg | 73 | #define SPI_CMD_PARAMETER1 13 |
1078 | killagreg | 74 | #define SPI_CMD_VERSION 14 |
886 | killagreg | 75 | |
76 | typedef struct |
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827 | ingob | 77 | { |
886 | killagreg | 78 | uint8_t Sync1; |
79 | uint8_t Sync2; |
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80 | uint8_t Command; |
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911 | killagreg | 81 | int16_t IntegralNick; |
886 | killagreg | 82 | int16_t IntegralRoll; |
911 | killagreg | 83 | int16_t AccNick; |
886 | killagreg | 84 | int16_t AccRoll; |
85 | int16_t GyroHeading; |
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911 | killagreg | 86 | int16_t GyroNick; |
886 | killagreg | 87 | int16_t GyroRoll; |
88 | int16_t GyroYaw; |
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89 | union |
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90 | { |
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91 | int8_t sByte[12]; |
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92 | uint8_t Byte[12]; |
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93 | int16_t Int[6]; |
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94 | int32_t Long[3]; |
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95 | float Float[3]; |
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96 | } Param; |
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97 | uint8_t Chksum; |
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1078 | killagreg | 98 | } __attribute__((packed)) ToNaviCtrl_t; |
827 | ingob | 99 | |
886 | killagreg | 100 | |
101 | |||
1078 | killagreg | 102 | #define SPI_CMD_OSD_DATA 100 |
103 | #define SPI_CMD_GPS_POS 101 |
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104 | #define SPI_CMD_GPS_TARGET 102 |
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105 | #define SPI_KALMAN 103 |
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886 | killagreg | 106 | |
107 | typedef struct |
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827 | ingob | 108 | { |
886 | killagreg | 109 | uint8_t Command; |
1180 | killagreg | 110 | int16_t GPSStickNick; |
111 | int16_t GPSStickRoll; |
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886 | killagreg | 112 | int16_t GPS_Yaw; |
113 | int16_t CompassHeading; |
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114 | int16_t Status; |
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936 | killagreg | 115 | uint16_t BeepTime; |
886 | killagreg | 116 | union |
117 | { |
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118 | int8_t Byte[12]; |
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119 | int16_t Int[6]; |
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120 | int32_t Long[3]; |
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121 | float Float[3]; |
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122 | } Param; |
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123 | uint8_t Chksum; |
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1078 | killagreg | 124 | } __attribute__((packed)) FromNaviCtrl_t; |
827 | ingob | 125 | |
126 | |||
1078 | killagreg | 127 | typedef struct |
128 | { |
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129 | uint8_t Major; |
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130 | uint8_t Minor; |
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131 | uint8_t Patch; |
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132 | uint8_t Compatible; |
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133 | } __attribute__((packed)) SPI_VersionInfo_t; |
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134 | |||
135 | |||
136 | extern ToNaviCtrl_t ToNaviCtrl; |
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137 | extern FromNaviCtrl_t FromNaviCtrl; |
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138 | |||
936 | killagreg | 139 | void SPI_MasterInit(void); |
140 | void SPI_StartTransmitPacket(void); |
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141 | void SPI_TransmitByte(void); |
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827 | ingob | 142 | |
143 | |||
144 | |||
886 | killagreg | 145 | #endif //_SPI_H |