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1 | // ######################## SPI - FlightCtrl ################### |
1 | // ######################## SPI - FlightCtrl ################### |
2 | #ifndef _SPI_H |
2 | #ifndef _SPI_H |
3 | #define _SPI_H |
3 | #define _SPI_H |
4 | 4 | ||
5 | #include <util/delay.h> |
5 | #include <util/delay.h> |
6 | 6 | ||
7 | #define USE_SPI_COMMUNICATION |
7 | #define USE_SPI_COMMUNICATION |
8 | 8 | ||
9 | #define SPI_PROTOCOL_COMP 1 |
9 | #define SPI_PROTOCOL_COMP 1 |
10 | 10 | ||
11 | //----------------------------------------- |
11 | //----------------------------------------- |
12 | #define DDR_SPI DDRB |
12 | #define DDR_SPI DDRB |
13 | #define DD_SS PB4 |
13 | #define DD_SS PB4 |
14 | #define DD_SCK PB7 |
14 | #define DD_SCK PB7 |
15 | #define DD_MOSI PB5 |
15 | #define DD_MOSI PB5 |
16 | #define DD_MISO PB6 |
16 | #define DD_MISO PB6 |
17 | 17 | ||
18 | // for compatibility reasons gcc3.x <-> gcc4.x |
18 | // for compatibility reasons gcc3.x <-> gcc4.x |
19 | #ifndef SPCR |
19 | #ifndef SPCR |
20 | #define SPCR SPCR0 |
20 | #define SPCR SPCR0 |
21 | #endif |
21 | #endif |
22 | #ifndef SPE |
22 | #ifndef SPE |
23 | #define SPE SPE0 |
23 | #define SPE SPE0 |
24 | #endif |
24 | #endif |
25 | #ifndef MSTR |
25 | #ifndef MSTR |
26 | #define MSTR MSTR0 |
26 | #define MSTR MSTR0 |
27 | #endif |
27 | #endif |
28 | #ifndef SPR1 |
28 | #ifndef SPR1 |
29 | #define SPR1 SPR01 |
29 | #define SPR1 SPR01 |
30 | #endif |
30 | #endif |
31 | #ifndef SPR0 |
31 | #ifndef SPR0 |
32 | #define SPR0 SPR00 |
32 | #define SPR0 SPR00 |
33 | #endif |
33 | #endif |
34 | #ifndef SPIE |
34 | #ifndef SPIE |
35 | #define SPIE SPIE0 |
35 | #define SPIE SPIE0 |
36 | #endif |
36 | #endif |
37 | #ifndef SPDR |
37 | #ifndef SPDR |
38 | #define SPDR SPDR0 |
38 | #define SPDR SPDR0 |
39 | #endif |
39 | #endif |
40 | #ifndef SPIF |
40 | #ifndef SPIF |
41 | #define SPIF SPIF0 |
41 | #define SPIF SPIF0 |
42 | #endif |
42 | #endif |
43 | #ifndef SPSR |
43 | #ifndef SPSR |
44 | #define SPSR SPSR0 |
44 | #define SPSR SPSR0 |
45 | #endif |
45 | #endif |
46 | // ------------------------- |
46 | // ------------------------- |
47 | 47 | ||
48 | #define SLAVE_SELECT_DDR_PORT DDRC |
48 | #define SLAVE_SELECT_DDR_PORT DDRC |
49 | #define SLAVE_SELECT_PORT PORTC |
49 | #define SLAVE_SELECT_PORT PORTC |
50 | #define SPI_SLAVE_SELECT PC5 |
50 | #define SPI_SLAVE_SELECT PC5 |
51 | 51 | ||
52 | 52 | ||
53 | #define SPI_CMD_USER 10 |
53 | #define SPI_CMD_USER 10 |
54 | #define SPI_CMD_STICK 11 |
54 | #define SPI_CMD_STICK 11 |
55 | #define SPI_CMD_CAL_COMPASS 12 |
55 | #define SPI_CMD_CAL_COMPASS 12 |
56 | #define SPI_CMD_PARAMETER1 13 |
56 | #define SPI_CMD_PARAMETER1 13 |
57 | #define SPI_CMD_VERSION 14 |
57 | #define SPI_CMD_VERSION 14 |
58 | 58 | ||
59 | struct str_ToNaviCtrl |
59 | struct str_ToNaviCtrl |
60 | { |
60 | { |
61 | unsigned char Sync1, Sync2; |
61 | unsigned char Sync1, Sync2; |
62 | unsigned char Command; |
62 | unsigned char Command; |
63 | signed int IntegralNick; |
63 | signed int IntegralNick; |
64 | signed int IntegralRoll; |
64 | signed int IntegralRoll; |
65 | signed int AccNick; |
65 | signed int AccNick; |
66 | signed int AccRoll; |
66 | signed int AccRoll; |
67 | signed int GyroCompass; |
67 | signed int GyroCompass; |
68 | signed int GyroNick; |
68 | signed int GyroNick; |
69 | signed int GyroRoll; |
69 | signed int GyroRoll; |
70 | signed int GyroGier; |
70 | signed int GyroGier; |
71 | union |
71 | union |
72 | { char Byte[12]; |
72 | { char Byte[12]; |
73 | int Int[6]; |
73 | int Int[6]; |
74 | long Long[3]; |
74 | long Long[3]; |
75 | float Float[3]; |
75 | float Float[3]; |
76 | } Param; |
76 | } Param; |
77 | unsigned char Chksum; |
77 | unsigned char Chksum; |
78 | }; |
78 | }; |
79 | 79 | ||
80 | #define SPI_CMD_OSD_DATA 100 |
80 | #define SPI_CMD_OSD_DATA 100 |
81 | #define SPI_CMD_GPS_POS 101 |
81 | #define SPI_CMD_GPS_POS 101 |
82 | #define SPI_CMD_GPS_TARGET 102 |
82 | #define SPI_CMD_GPS_TARGET 102 |
- | 83 | #define SPI_KALMAN 103 |
|
- | 84 | ||
83 | struct str_FromNaviCtrl |
85 | struct str_FromNaviCtrl |
84 | { |
86 | { |
85 | unsigned char Command; |
87 | unsigned char Command; |
86 | signed int GPS_Nick; |
88 | signed int GPS_Nick; |
87 | signed int GPS_Roll; |
89 | signed int GPS_Roll; |
88 | signed int GPS_Gier; |
90 | signed int GPS_Gier; |
89 | signed int CompassValue; |
91 | signed int CompassValue; |
90 | signed int Status; |
92 | signed int Status; |
91 | unsigned int BeepTime; |
93 | unsigned int BeepTime; |
92 | union |
94 | union |
93 | { char Byte[12]; |
95 | { char Byte[12]; |
94 | int Int[6]; |
96 | int Int[6]; |
95 | long Long[3]; |
97 | long Long[3]; |
96 | float Float[3]; |
98 | float Float[3]; |
97 | } Param; |
99 | } Param; |
98 | unsigned char Chksum; |
100 | unsigned char Chksum; |
99 | }; |
101 | }; |
100 | 102 | ||
101 | struct str_FromNaviCtrl_Value |
103 | struct str_FromNaviCtrl_Value |
102 | { |
104 | { |
103 | signed int OsdBar; |
105 | signed int OsdBar; |
104 | signed int Distance; |
106 | signed int Distance; |
- | 107 | signed char Kalman_K; |
|
- | 108 | signed char Kalman_MaxDrift; |
|
- | 109 | signed char Kalman_MaxFusion; |
|
105 | }; |
110 | }; |
106 | 111 | ||
107 | #ifdef USE_SPI_COMMUNICATION |
112 | #ifdef USE_SPI_COMMUNICATION |
108 | 113 | ||
109 | extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
114 | extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
110 | extern struct str_ToNaviCtrl ToNaviCtrl; |
115 | extern struct str_ToNaviCtrl ToNaviCtrl; |
111 | extern struct str_FromNaviCtrl FromNaviCtrl; |
116 | extern struct str_FromNaviCtrl FromNaviCtrl; |
112 | extern unsigned char SPI_CommandCounter; |
117 | extern unsigned char SPI_CommandCounter; |
113 | 118 | ||
114 | //#define SPI_CMD_VALUE 0x03 |
119 | //#define SPI_CMD_VALUE 0x03 |
115 | 120 | ||
116 | extern void SPI_MasterInit(void); |
121 | extern void SPI_MasterInit(void); |
117 | extern void SPI_StartTransmitPacket(void); |
122 | extern void SPI_StartTransmitPacket(void); |
118 | extern void UpdateSPI_Buffer(void); |
123 | extern void UpdateSPI_Buffer(void); |
119 | extern void SPI_TransmitByte(void); |
124 | extern void SPI_TransmitByte(void); |
120 | #else |
125 | #else |
121 | 126 | ||
122 | 127 | ||
123 | // -------------------------------- Dummy ----------------------------------------- |
128 | // -------------------------------- Dummy ----------------------------------------- |
124 | #define SPI_MasterInit() ; |
129 | #define SPI_MasterInit() ; |
125 | #define SPI_StartTransmitPacket() ; |
130 | #define SPI_StartTransmitPacket() ; |
126 | #define UpdateSPI_Buffer() ; |
131 | #define UpdateSPI_Buffer() ; |
127 | #define SPI_TransmitByte() ; |
132 | #define SPI_TransmitByte() ; |
128 | #endif |
133 | #endif |
129 | 134 | ||
130 | 135 | ||
131 | #endif |
136 | #endif |
132 | 137 |