Subversion Repositories FlightCtrl

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

#ifndef _SPI_H

#define _SPI_H

#include <util/delay.h>

#include "vector.h"

#define USE_SPI_COMMUNICATION

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

#define DDR_SPI DDRB

#define SLAVE_SELECT_DDR_PORT   DDRC

#define SLAVE_SELECT_PORT       PORTC

#if defined(__AVR_ATmega1284P__)

#define DD_SS                           PORTB4

#define DD_SCK                          PORTB7

#define DD_MOSI                         PORTB5

#define DD_MISO                         PORTB6

#define SPI_SLAVE_SELECT        PORTC5

#else

#define DD_SS                           PB4

#define DD_SCK                          PB7

#define DD_MOSI                         PB5

#define DD_MISO                         PB6

#define SPI_SLAVE_SELECT        PC5

#endif

// 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 SPI_FCCMD_USER                  10

#define SPI_FCCMD_STICK                 11

#define SPI_FCCMD_MISC                  12

#define SPI_FCCMD_PARAMETER1    13

#define SPI_FCCMD_VERSION               14

#define SPI_FCCMD_SERVOS                15

#define SPI_FCCMD_ACCU                  16

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;

        unsigned int FCStatus;

        union

        {

                unsigned char Byte[12];

                char sByte[12];

                unsigned int Int[6];

                int  sInt[6];

                unsigned long Long[3];

                long sLong[3];

                float Float[3];

        } Param;

        unsigned char Chksum;

};

#define SPI_NCCMD_KALMAN                103

#define SPI_NCCMD_VERSION               104

#define SPI_NCCMD_GPSINFO               105

#define SPI_NCCMD_HOTT_DATA             106

#define SPI_MISC                                107

struct str_FromNaviCtrl

{

        unsigned char Command;

        signed int  GPS_Nick;

        signed int  GPS_Roll;

        signed int  GPS_Gier;

        signed int  CompassValue;

//      signed int  MagVecX;

//      signed int  MagVecY;

        signed int AccErrorN;

        signed int AccErrorR;

        signed int  MagVecZ;

        signed int  Status;

        unsigned int BeepTime;

        union

        {

                unsigned char Byte[12];

                char sByte[12];

                unsigned int Int[6];

                int  sInt[6];

                unsigned long Long[3];

                long sLong[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;

  unsigned char Hardware;

};

// Satfix types for GPSData.SatFix

#define SATFIX_NONE                             0x00

#define SATFIX_DEADRECKOING             0x01

#define SATFIX_2D                               0x02

#define SATFIX_3D                               0x03

#define SATFIX_GPS_DEADRECKOING 0x04

#define SATFIX_TIMEONLY                 0x05

// Flags for interpretation of the GPSData.Flags

#define FLAG_GPSFIXOK                           0x01 // (i.e. within DOP & ACC Masks)

#define FLAG_DIFFSOLN                           0x02 // (is DGPS used)

#define FLAG_WKNSET                                     0x04 // (is Week Number valid)

#define FLAG_TOWSET                                     0x08 // (is Time of Week valid)

#define FLAG_GPS_NAVIGATION_ACTIVE      0x10 // NC to FC -> NC is ready to navigate

struct str_GPSInfo

{

        unsigned char   Flags;                  // Status Flags

        unsigned char   NumOfSats;              // number of satelites

        unsigned char   SatFix;                 // type of satfix

        unsigned char   Speed;                  // m/sek

        unsigned int    HomeDistance;   // distance to Home in dm

        int                             HomeBearing;    // bearing to home in deg

};

#ifdef USE_SPI_COMMUNICATION

extern struct str_GPSInfo GPSInfo;

extern struct str_SPI_VersionInfo NC_Version;

extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;

extern struct str_ToNaviCtrl   ToNaviCtrl;

extern struct str_FromNaviCtrl FromNaviCtrl;

extern unsigned char SPI_CommandCounter,NaviDataOkay;

extern signed char FromNC_Rotate_C, FromNC_Rotate_S;

extern unsigned char NC_ErrorCode;

extern void SPI_MasterInit(void);

extern void SPI_StartTransmitPacket(void);

extern void UpdateSPI_Buffer(void);

extern void SPI_TransmitByte(void);

extern signed int POI_KameraNick;

extern unsigned char NC_GPS_ModeCharacter, NC_To_FC_Flags, NC_To_FC_MaxAltitude;

extern vector16_t MagVec;

extern unsigned char EarthMagneticField;

extern unsigned char EarthMagneticInclination,EarthMagneticInclinationTheoretic;

#else

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

#define  SPI_MasterInit() ;

#define  SPI_StartTransmitPacket() ;

#define  UpdateSPI_Buffer() ;

#define  SPI_TransmitByte() ;

#endif

#endif