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827 ingob 1 
// ######################## SPI - FlightCtrl ###################
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#ifndef _SPI_H
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#define _SPI_H
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#include <util/delay.h>
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#define USE_SPI_COMMUNICATION
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//-----------------------------------------
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#define DDR_SPI DDRB
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#define DD_SS   PB4
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#define DD_SCK  PB7
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#define DD_MOSI PB5
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#define DD_MISO PB6
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// for compatibility reasons gcc3.x <-> gcc4.x
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#ifndef SPCR
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#define SPCR   SPCR0
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#endif
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#ifndef SPE
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#define SPE   SPE0
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#endif
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#ifndef MSTR
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#define MSTR   MSTR0
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#endif
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#ifndef SPR1
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#define SPR1   SPR01
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#endif
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#ifndef SPR0
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#define SPR0   SPR00
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#endif
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#ifndef SPIE
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#define SPIE   SPIE0
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#endif
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#ifndef SPDR
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#define SPDR   SPDR0
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#endif
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#ifndef SPIF
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#define SPIF   SPIF0
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#endif
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#ifndef SPSR
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#define SPSR   SPSR0
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#endif
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// -------------------------
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#define SLAVE_SELECT_DDR_PORT   DDRC
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#define SLAVE_SELECT_PORT       PORTC
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#define SPI_SLAVE_SELECT        PC5
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#define SPI_CMD_USER        10
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#define SPI_CMD_STICK       11
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#define SPI_CMD_MISC        12
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#define SPI_CMD_PARAMETER1  13
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#define SPI_CMD_VERSION     14
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#define SPI_CMD_SERVOS          15
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struct str_ToNaviCtrl
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{
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        unsigned char Sync1, Sync2;
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        unsigned char Command;
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        signed int  IntegralNick;
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        signed int  IntegralRoll;
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        signed int  AccNick;
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        signed int  AccRoll;
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        signed int  GyroCompass;
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        signed int  GyroNick;
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        signed int  GyroRoll;
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        signed int  GyroGier;
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        union
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        {
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                char sByte[12];
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                unsigned char Byte[12];
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                int  Int[6];
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                long Long[3];
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                float Float[3];
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        } Param;
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        unsigned char Chksum;
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};
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#define SPI_KALMAN          103
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struct str_FromNaviCtrl
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{
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        unsigned char Command;
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        signed int  GPS_Nick;
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        signed int  GPS_Roll;
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        signed int  GPS_Gier;
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        signed int  CompassValue;
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        signed int  Status;
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        unsigned int BeepTime;
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        union
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        {
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                char sByte[12];
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                unsigned char Byte[12];
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                int  Int[6];
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                long Long[3];
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                float Float[3];
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        } Param;
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        unsigned char Chksum;
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};
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struct str_FromNaviCtrl_Value
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{
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 signed char Kalman_K;
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 signed char Kalman_MaxDrift;
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 signed char Kalman_MaxFusion;
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 unsigned char SerialDataOkay;
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 signed char GpsZ;
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};
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struct str_SPI_VersionInfo
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{
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  unsigned char Major;
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  unsigned char Minor;
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  unsigned char Patch;
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  unsigned char Compatible;
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};
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#ifdef USE_SPI_COMMUNICATION
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extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
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extern struct str_ToNaviCtrl   ToNaviCtrl;
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extern struct str_FromNaviCtrl FromNaviCtrl;
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extern unsigned char SPI_CommandCounter,NaviDataOkay;
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//#define SPI_CMD_VALUE   0x03
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extern void SPI_MasterInit(void);
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extern void SPI_StartTransmitPacket(void);
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extern void UpdateSPI_Buffer(void);
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extern void SPI_TransmitByte(void);
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#else
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// -------------------------------- Dummy -----------------------------------------
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#define  SPI_MasterInit() ;
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#define  SPI_StartTransmitPacket() ;
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#define  UpdateSPI_Buffer() ;
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#define  SPI_TransmitByte() ;
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#endif
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#endif