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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1388 | Arthur | 1 | // ######################## SPI - FlightCtrl ################### |
| 2 | #ifndef _SPI_H |
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| 3 | #define _SPI_H |
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| 4 | |||
| 5 | #include <util/delay.h> |
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| 6 | |||
| 7 | #define USE_SPI_COMMUNICATION |
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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 | |||
| 51 | #define SPI_CMD_USER 10 |
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| 52 | #define SPI_CMD_STICK 11 |
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| 53 | #define SPI_CMD_MISC 12 |
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| 54 | #define SPI_CMD_PARAMETER1 13 |
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| 55 | #define SPI_CMD_VERSION 14 |
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| 56 | #define SPI_CMD_SERVOS 15 |
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| 57 | |||
| 58 | struct str_ToNaviCtrl |
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| 59 | { |
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| 60 | unsigned char Sync1, Sync2; |
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| 61 | unsigned char Command; |
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| 62 | signed int IntegralNick; |
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| 63 | signed int IntegralRoll; |
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| 64 | signed int AccNick; |
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| 65 | signed int AccRoll; |
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| 66 | signed int GyroCompass; |
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| 67 | signed int GyroNick; |
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| 68 | signed int GyroRoll; |
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| 69 | signed int GyroGier; |
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| 70 | union |
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| 71 | { |
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| 72 | char sByte[12]; |
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| 73 | unsigned char Byte[12]; |
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| 74 | int Int[6]; |
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| 75 | long Long[3]; |
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| 76 | float Float[3]; |
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| 77 | } Param; |
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| 78 | unsigned char Chksum; |
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| 79 | }; |
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| 80 | |||
| 81 | #define SPI_KALMAN 103 |
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| 82 | |||
| 83 | struct str_FromNaviCtrl |
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| 84 | { |
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| 85 | unsigned char Command; |
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| 86 | signed int GPS_Nick; |
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| 87 | signed int GPS_Roll; |
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| 88 | signed int GPS_Gier; |
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| 89 | signed int CompassValue; |
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| 90 | signed int Status; |
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| 91 | unsigned int BeepTime; |
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| 92 | union |
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| 93 | { |
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| 94 | char sByte[12]; |
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| 95 | unsigned char Byte[12]; |
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| 96 | int Int[6]; |
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| 97 | long Long[3]; |
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| 98 | float Float[3]; |
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| 99 | } Param; |
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| 100 | unsigned char Chksum; |
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| 101 | }; |
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| 102 | |||
| 103 | struct str_FromNaviCtrl_Value |
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| 104 | { |
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| 105 | signed char Kalman_K; |
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| 106 | signed char Kalman_MaxDrift; |
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| 107 | signed char Kalman_MaxFusion; |
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| 108 | unsigned char SerialDataOkay; |
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| 109 | signed char GpsZ; |
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| 110 | }; |
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| 111 | |||
| 112 | struct str_SPI_VersionInfo |
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| 113 | { |
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| 114 | unsigned char Major; |
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| 115 | unsigned char Minor; |
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| 116 | unsigned char Patch; |
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| 117 | unsigned char Compatible; |
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| 118 | }; |
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| 119 | |||
| 120 | #ifdef USE_SPI_COMMUNICATION |
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| 121 | |||
| 122 | extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
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| 123 | extern struct str_ToNaviCtrl ToNaviCtrl; |
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| 124 | extern struct str_FromNaviCtrl FromNaviCtrl; |
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| 125 | extern unsigned char SPI_CommandCounter,NaviDataOkay; |
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| 126 | |||
| 127 | //#define SPI_CMD_VALUE 0x03 |
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| 128 | |||
| 129 | extern void SPI_MasterInit(void); |
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| 130 | extern void SPI_StartTransmitPacket(void); |
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| 131 | extern void UpdateSPI_Buffer(void); |
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| 132 | extern void SPI_TransmitByte(void); |
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| 133 | #else |
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| 134 | |||
| 135 | |||
| 136 | // -------------------------------- Dummy ----------------------------------------- |
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| 137 | #define SPI_MasterInit() ; |
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| 138 | #define SPI_StartTransmitPacket() ; |
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| 139 | #define UpdateSPI_Buffer() ; |
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| 140 | #define SPI_TransmitByte() ; |
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| 141 | #endif |
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| 142 | |||
| 143 | |||
| 144 | #endif |