Subversion Repositories FlightCtrl

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

#ifndef _SPI_H

#define _SPI_H

#include <util/delay.h>

#define USE_SPI_COMMUNICATION

#define SPI_PROTOCOL_COMP   1

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

#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

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 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 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;

};

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;

//#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