Subversion Repositories FlightCtrl

// ######################## SPI - FlightCtrl ###################

#ifndef _SPI_H

#define _SPI_H

#include <util/delay.h>

#define USE_SPI_COMMUNICATION

//-----------------------------------------

#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_MISC        12

#define SPI_CMD_PARAMETER1  13

#define SPI_CMD_VERSION     14

#define SPI_CMD_SERVOS          15

struct str_ToNaviCtrl

{

        unsigned char Sync1, Sync2;

        unsigned char Command;

        signed int  IntegralNick;

        signed int  IntegralRoll;

        signed int  AccNick;

        signed int  AccRoll;

        signed int  GyroCompass;

        signed int  GyroNick;

        signed int  GyroRoll;

        signed int  GyroGier;

        union

        {

                char sByte[12];

                unsigned char Byte[12];

                int  Int[6];

                long Long[3];

                float Float[3];

        } Param;

        unsigned char Chksum;

};

#define SPI_KALMAN          103

struct str_FromNaviCtrl

{

        unsigned char Command;

        signed int  GPS_Nick;

        signed int  GPS_Roll;

        signed int  GPS_Gier;

        signed int  CompassValue;

        signed int  Status;

        unsigned int BeepTime;

        union

        {

                char sByte[12];

                unsigned char Byte[12];

                int  Int[6];

                long Long[3];

                float Float[3];

        } Param;

        unsigned char Chksum;

};

struct str_FromNaviCtrl_Value

{

 signed char Kalman_K;

 signed char Kalman_MaxDrift;

 signed char Kalman_MaxFusion;

 unsigned char SerialDataOkay;

 signed char GpsZ;

};

struct str_SPI_VersionInfo

{

  unsigned char Major;

  unsigned char Minor;

  unsigned char Patch;

  unsigned char Compatible;

};

#ifdef USE_SPI_COMMUNICATION

extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;

extern struct str_ToNaviCtrl   ToNaviCtrl;

extern struct str_FromNaviCtrl FromNaviCtrl;

extern unsigned char SPI_CommandCounter,NaviDataOkay;

//#define SPI_CMD_VALUE   0x03

extern void SPI_MasterInit(void);

extern void SPI_StartTransmitPacket(void);

extern void UpdateSPI_Buffer(void);

extern void SPI_TransmitByte(void);

#else

// -------------------------------- Dummy -----------------------------------------

#define  SPI_MasterInit() ;

#define  SPI_StartTransmitPacket() ;

#define  UpdateSPI_Buffer() ;

#define  SPI_TransmitByte() ;

#endif

#endif