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Rev | Author | Line No. | Line |
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827 | ingob | 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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1852 | killagreg | 6 | #include "vector.h" |
827 | ingob | 7 | |
1051 | killagreg | 8 | #define USE_SPI_COMMUNICATION |
2341 | holgerb | 9 | #define SPI_BYTEGAP 3 |
827 | ingob | 10 | //----------------------------------------- |
11 | #define DDR_SPI DDRB |
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1561 | killagreg | 12 | #define SLAVE_SELECT_DDR_PORT DDRC |
13 | #define SLAVE_SELECT_PORT PORTC |
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827 | ingob | 14 | |
1561 | killagreg | 15 | #if defined(__AVR_ATmega1284P__) |
16 | #define DD_SS PORTB4 |
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17 | #define DD_SCK PORTB7 |
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18 | #define DD_MOSI PORTB5 |
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19 | #define DD_MISO PORTB6 |
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20 | #define SPI_SLAVE_SELECT PORTC5 |
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21 | #else |
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22 | #define DD_SS PB4 |
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23 | #define DD_SCK PB7 |
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24 | #define DD_MOSI PB5 |
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25 | #define DD_MISO PB6 |
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26 | #define SPI_SLAVE_SELECT PC5 |
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27 | #endif |
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28 | |||
1051 | killagreg | 29 | // for compatibility reasons gcc3.x <-> gcc4.x |
30 | #ifndef SPCR |
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827 | ingob | 31 | #define SPCR SPCR0 |
1051 | killagreg | 32 | #endif |
33 | #ifndef SPE |
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827 | ingob | 34 | #define SPE SPE0 |
1051 | killagreg | 35 | #endif |
36 | #ifndef MSTR |
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827 | ingob | 37 | #define MSTR MSTR0 |
1051 | killagreg | 38 | #endif |
39 | #ifndef SPR1 |
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827 | ingob | 40 | #define SPR1 SPR01 |
1051 | killagreg | 41 | #endif |
42 | #ifndef SPR0 |
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827 | ingob | 43 | #define SPR0 SPR00 |
1051 | killagreg | 44 | #endif |
45 | #ifndef SPIE |
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827 | ingob | 46 | #define SPIE SPIE0 |
1051 | killagreg | 47 | #endif |
48 | #ifndef SPDR |
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827 | ingob | 49 | #define SPDR SPDR0 |
1051 | killagreg | 50 | #endif |
51 | #ifndef SPIF |
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827 | ingob | 52 | #define SPIF SPIF0 |
1051 | killagreg | 53 | #endif |
54 | #ifndef SPSR |
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827 | ingob | 55 | #define SPSR SPSR0 |
1051 | killagreg | 56 | #endif |
827 | ingob | 57 | // ------------------------- |
58 | |||
1448 | killagreg | 59 | #define SPI_FCCMD_USER 10 |
60 | #define SPI_FCCMD_STICK 11 |
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61 | #define SPI_FCCMD_MISC 12 |
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62 | #define SPI_FCCMD_PARAMETER1 13 |
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63 | #define SPI_FCCMD_VERSION 14 |
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64 | #define SPI_FCCMD_SERVOS 15 |
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2341 | holgerb | 65 | #define SPI_FCCMD_BL_ACCU 16 |
2183 | holgerb | 66 | #define SPI_FCCMD_PARAMETER2 17 |
991 | ingob | 67 | |
827 | ingob | 68 | struct str_ToNaviCtrl |
69 | { |
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1231 | killagreg | 70 | unsigned char Sync1, Sync2; |
71 | unsigned char Command; |
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72 | signed int IntegralNick; |
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73 | signed int IntegralRoll; |
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74 | signed int AccNick; |
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75 | signed int AccRoll; |
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76 | signed int GyroCompass; |
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77 | signed int GyroNick; |
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78 | signed int GyroRoll; |
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79 | signed int GyroGier; |
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1852 | killagreg | 80 | unsigned int FCStatus; |
1231 | killagreg | 81 | union |
82 | { |
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1472 | killagreg | 83 | unsigned char Byte[12]; |
1231 | killagreg | 84 | char sByte[12]; |
1472 | killagreg | 85 | unsigned int Int[6]; |
86 | int sInt[6]; |
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87 | unsigned long Long[3]; |
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88 | long sLong[3]; |
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1231 | killagreg | 89 | float Float[3]; |
90 | } Param; |
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91 | unsigned char Chksum; |
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1051 | killagreg | 92 | }; |
827 | ingob | 93 | |
1448 | killagreg | 94 | #define SPI_NCCMD_KALMAN 103 |
95 | #define SPI_NCCMD_VERSION 104 |
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1451 | killagreg | 96 | #define SPI_NCCMD_GPSINFO 105 |
1940 | holgerb | 97 | #define SPI_NCCMD_HOTT_DATA 106 |
1972 | holgerb | 98 | #define SPI_MISC 107 |
1241 | killagreg | 99 | |
827 | ingob | 100 | struct str_FromNaviCtrl |
101 | { |
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1231 | killagreg | 102 | unsigned char Command; |
103 | signed int GPS_Nick; |
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104 | signed int GPS_Roll; |
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2183 | holgerb | 105 | signed int MagVecX; |
1231 | killagreg | 106 | signed int CompassValue; |
1936 | holgerb | 107 | signed int AccErrorN; |
108 | signed int AccErrorR; |
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2183 | holgerb | 109 | signed int MagVecY; |
1856 | killagreg | 110 | signed int MagVecZ; |
1231 | killagreg | 111 | unsigned int BeepTime; |
112 | union |
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113 | { |
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1472 | killagreg | 114 | unsigned char Byte[12]; |
1231 | killagreg | 115 | char sByte[12]; |
1472 | killagreg | 116 | unsigned int Int[6]; |
117 | int sInt[6]; |
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118 | unsigned long Long[3]; |
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119 | long sLong[3]; |
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1231 | killagreg | 120 | float Float[3]; |
121 | } Param; |
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122 | unsigned char Chksum; |
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1051 | killagreg | 123 | }; |
827 | ingob | 124 | |
978 | hbuss | 125 | struct str_FromNaviCtrl_Value |
126 | { |
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992 | hbuss | 127 | signed char Kalman_K; |
128 | signed char Kalman_MaxDrift; |
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129 | signed char Kalman_MaxFusion; |
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1215 | hbuss | 130 | unsigned char SerialDataOkay; |
1283 | hbuss | 131 | signed char GpsZ; |
978 | hbuss | 132 | }; |
827 | ingob | 133 | |
1051 | killagreg | 134 | struct str_SPI_VersionInfo |
135 | { |
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136 | unsigned char Major; |
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137 | unsigned char Minor; |
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138 | unsigned char Patch; |
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139 | unsigned char Compatible; |
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1448 | killagreg | 140 | unsigned char Hardware; |
1051 | killagreg | 141 | }; |
142 | |||
1451 | killagreg | 143 | // Satfix types for GPSData.SatFix |
144 | #define SATFIX_NONE 0x00 |
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145 | #define SATFIX_DEADRECKOING 0x01 |
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146 | #define SATFIX_2D 0x02 |
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147 | #define SATFIX_3D 0x03 |
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148 | #define SATFIX_GPS_DEADRECKOING 0x04 |
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149 | #define SATFIX_TIMEONLY 0x05 |
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150 | // Flags for interpretation of the GPSData.Flags |
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1916 | holgerb | 151 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
152 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
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153 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
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154 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
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155 | #define FLAG_GPS_NAVIGATION_ACTIVE 0x10 // NC to FC -> NC is ready to navigate |
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1451 | killagreg | 156 | |
157 | struct str_GPSInfo |
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158 | { |
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1472 | killagreg | 159 | unsigned char Flags; // Status Flags |
160 | unsigned char NumOfSats; // number of satelites |
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161 | unsigned char SatFix; // type of satfix |
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1690 | holgerb | 162 | unsigned char Speed; // m/sek |
1472 | killagreg | 163 | unsigned int HomeDistance; // distance to Home in dm |
164 | int HomeBearing; // bearing to home in deg |
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1451 | killagreg | 165 | }; |
166 | |||
167 | |||
827 | ingob | 168 | #ifdef USE_SPI_COMMUNICATION |
1451 | killagreg | 169 | extern struct str_GPSInfo GPSInfo; |
1448 | killagreg | 170 | extern struct str_SPI_VersionInfo NC_Version; |
978 | hbuss | 171 | extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
827 | ingob | 172 | extern struct str_ToNaviCtrl ToNaviCtrl; |
173 | extern struct str_FromNaviCtrl FromNaviCtrl; |
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1215 | hbuss | 174 | extern unsigned char SPI_CommandCounter,NaviDataOkay; |
1664 | holgerb | 175 | extern signed char FromNC_Rotate_C, FromNC_Rotate_S; |
1703 | holgerb | 176 | extern unsigned char NC_ErrorCode; |
827 | ingob | 177 | extern void SPI_MasterInit(void); |
178 | extern void SPI_StartTransmitPacket(void); |
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179 | extern void UpdateSPI_Buffer(void); |
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180 | extern void SPI_TransmitByte(void); |
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1840 | holgerb | 181 | extern signed int POI_KameraNick; |
2034 | holgerb | 182 | extern unsigned char NC_GPS_ModeCharacter, NC_To_FC_Flags, NC_To_FC_MaxAltitude; |
1852 | killagreg | 183 | extern vector16_t MagVec; |
1972 | holgerb | 184 | extern unsigned char EarthMagneticField; |
185 | extern unsigned char EarthMagneticInclination,EarthMagneticInclinationTheoretic; |
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827 | ingob | 186 | #else |
187 | |||
188 | |||
189 | // -------------------------------- Dummy ----------------------------------------- |
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1051 | killagreg | 190 | #define SPI_MasterInit() ; |
827 | ingob | 191 | #define SPI_StartTransmitPacket() ; |
192 | #define UpdateSPI_Buffer() ; |
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193 | #define SPI_TransmitByte() ; |
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194 | #endif |
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195 | |||
196 | |||
197 | #endif |