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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 | struct str_ToNaviCtrl |
57 | struct str_ToNaviCtrl |
57 | { |
58 | { |
58 | unsigned char Sync1, Sync2; |
59 | unsigned char Sync1, Sync2; |
59 | unsigned char Command; |
60 | unsigned char Command; |
60 | signed int IntegralNick; |
61 | signed int IntegralNick; |
61 | signed int IntegralRoll; |
62 | signed int IntegralRoll; |
62 | signed int AccNick; |
63 | signed int AccNick; |
63 | signed int AccRoll; |
64 | signed int AccRoll; |
64 | signed int GyroCompass; |
65 | signed int GyroCompass; |
65 | signed int GyroNick; |
66 | signed int GyroNick; |
66 | signed int GyroRoll; |
67 | signed int GyroRoll; |
67 | signed int GyroGier; |
68 | signed int GyroGier; |
68 | union |
69 | union |
69 | { char Byte[12]; |
70 | { char Byte[12]; |
70 | int Int[6]; |
71 | int Int[6]; |
71 | long Long[3]; |
72 | long Long[3]; |
72 | float Float[3]; |
73 | float Float[3]; |
73 | } Param; |
74 | } Param; |
74 | unsigned char Chksum; |
75 | unsigned char Chksum; |
75 | }; |
76 | }; |
76 | 77 | ||
77 | #define SPI_CMD_OSD_DATA 100 |
78 | #define SPI_CMD_OSD_DATA 100 |
78 | #define SPI_CMD_GPS_POS 101 |
79 | #define SPI_CMD_GPS_POS 101 |
79 | #define SPI_CMD_GPS_TARGET 102 |
80 | #define SPI_CMD_GPS_TARGET 102 |
80 | struct str_FromNaviCtrl |
81 | struct str_FromNaviCtrl |
81 | { |
82 | { |
82 | unsigned char Command; |
83 | unsigned char Command; |
83 | signed int GPS_Nick; |
84 | signed int GPS_Nick; |
84 | signed int GPS_Roll; |
85 | signed int GPS_Roll; |
85 | signed int GPS_Gier; |
86 | signed int GPS_Gier; |
86 | signed int CompassValue; |
87 | signed int CompassValue; |
87 | signed int Status; |
88 | signed int Status; |
88 | unsigned char BeepTime; |
89 | unsigned char BeepTime; |
89 | union |
90 | union |
90 | { char Byte[12]; |
91 | { char Byte[12]; |
91 | int Int[6]; |
92 | int Int[6]; |
92 | long Long[3]; |
93 | long Long[3]; |
93 | float Float[3]; |
94 | float Float[3]; |
94 | } Param; |
95 | } Param; |
95 | unsigned char Chksum; |
96 | unsigned char Chksum; |
96 | }; |
97 | }; |
97 | 98 | ||
98 | 99 | ||
99 | #ifdef USE_SPI_COMMUNICATION |
100 | #ifdef USE_SPI_COMMUNICATION |
100 | 101 | ||
101 | extern struct str_ToNaviCtrl ToNaviCtrl; |
102 | extern struct str_ToNaviCtrl ToNaviCtrl; |
102 | extern struct str_FromNaviCtrl FromNaviCtrl; |
103 | extern struct str_FromNaviCtrl FromNaviCtrl; |
- | 104 | extern unsigned char SPI_CommandCounter; |
|
103 | 105 | ||
104 | //#define SPI_CMD_VALUE 0x03 |
106 | //#define SPI_CMD_VALUE 0x03 |
105 | 107 | ||
106 | extern void SPI_MasterInit(void); |
108 | extern void SPI_MasterInit(void); |
107 | extern void SPI_StartTransmitPacket(void); |
109 | extern void SPI_StartTransmitPacket(void); |
108 | extern void UpdateSPI_Buffer(void); |
110 | extern void UpdateSPI_Buffer(void); |
109 | extern void SPI_TransmitByte(void); |
111 | extern void SPI_TransmitByte(void); |
110 | #else |
112 | #else |
111 | 113 | ||
112 | 114 | ||
113 | // -------------------------------- Dummy ----------------------------------------- |
115 | // -------------------------------- Dummy ----------------------------------------- |
114 | #define SPI_MasterInit() ; |
116 | #define SPI_MasterInit() ; |
115 | #define SPI_StartTransmitPacket() ; |
117 | #define SPI_StartTransmitPacket() ; |
116 | #define UpdateSPI_Buffer() ; |
118 | #define UpdateSPI_Buffer() ; |
117 | #define SPI_TransmitByte() ; |
119 | #define SPI_TransmitByte() ; |
118 | #endif |
120 | #endif |
119 | 121 | ||
120 | 122 | ||
121 | #endif |
123 | #endif |
122 | 124 |