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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 | ||
- | 5 | #include <util/delay.h> |
|
4 | 6 | ||
5 | //#define USE_SPI_COMMUNICATION |
7 | #define USE_SPI_COMMUNICATION |
6 | 8 | ||
7 | #define SPI_PROTOCOL_COMP 1 |
9 | #define SPI_PROTOCOL_COMP 1 |
8 | 10 | ||
9 | //----------------------------------------- |
11 | //----------------------------------------- |
10 | #define DDR_SPI DDRB |
12 | #define DDR_SPI DDRB |
11 | #define DD_SS PB4 |
13 | #define DD_SS PB4 |
12 | #define DD_SCK PB7 |
14 | #define DD_SCK PB7 |
13 | #define DD_MOSI PB5 |
15 | #define DD_MOSI PB5 |
14 | #define DD_MISO PB6 |
16 | #define DD_MISO PB6 |
15 | 17 | ||
16 | // for compatibility reasons gcc3.x <-> gcc4.x |
18 | // for compatibility reasons gcc3.x <-> gcc4.x |
17 | #ifndef SPCR |
19 | #ifndef SPCR |
18 | #define SPCR SPCR0 |
20 | #define SPCR SPCR0 |
19 | #endif |
21 | #endif |
20 | #ifndef SPE |
22 | #ifndef SPE |
21 | #define SPE SPE0 |
23 | #define SPE SPE0 |
22 | #endif |
24 | #endif |
23 | #ifndef MSTR |
25 | #ifndef MSTR |
24 | #define MSTR MSTR0 |
26 | #define MSTR MSTR0 |
25 | #endif |
27 | #endif |
26 | #ifndef SPR1 |
28 | #ifndef SPR1 |
27 | #define SPR1 SPR01 |
29 | #define SPR1 SPR01 |
28 | #endif |
30 | #endif |
29 | #ifndef SPR0 |
31 | #ifndef SPR0 |
30 | #define SPR0 SPR00 |
32 | #define SPR0 SPR00 |
31 | #endif |
33 | #endif |
32 | #ifndef SPIE |
34 | #ifndef SPIE |
33 | #define SPIE SPIE0 |
35 | #define SPIE SPIE0 |
34 | #endif |
36 | #endif |
35 | #ifndef SPDR |
37 | #ifndef SPDR |
36 | #define SPDR SPDR0 |
38 | #define SPDR SPDR0 |
37 | #endif |
39 | #endif |
38 | #ifndef SPIF |
40 | #ifndef SPIF |
39 | #define SPIF SPIF0 |
41 | #define SPIF SPIF0 |
40 | #endif |
42 | #endif |
41 | #ifndef SPSR |
43 | #ifndef SPSR |
42 | #define SPSR SPSR0 |
44 | #define SPSR SPSR0 |
43 | #endif |
45 | #endif |
44 | // ------------------------- |
46 | // ------------------------- |
45 | 47 | ||
46 | #define SLAVE_SELECT_DDR_PORT DDRC |
48 | #define SLAVE_SELECT_DDR_PORT DDRC |
47 | #define SLAVE_SELECT_PORT PORTC |
49 | #define SLAVE_SELECT_PORT PORTC |
48 | #define SPI_SLAVE_SELECT PC5 |
50 | #define SPI_SLAVE_SELECT PC5 |
49 | 51 | ||
50 | struct str_ToNaviCtrl |
52 | struct str_ToNaviCtrl_Value |
51 | { |
53 | { |
52 | unsigned char Sync1, Sync2; |
54 | unsigned char Sync1, Sync2; |
53 | unsigned char Comp; |
55 | unsigned char Command; |
54 | int IntegralNick; |
56 | signed int IntegralNick; |
55 | int IntegralRoll; |
57 | signed int IntegralRoll; |
- | 58 | char StickNick,StickRoll, |
|
- | 59 | StickGier, StickGas, |
|
- | 60 | Poti1,Poti2, |
|
- | 61 | Poti3,Poti4; |
|
- | 62 | signed int GyroCompass; |
|
- | 63 | signed int d0; |
|
56 | char StickNick,StickRoll,StickGier; |
64 | signed int d1; |
57 | unsigned char ChkSum; |
65 | unsigned char Chksum; |
- | 66 | }; |
|
- | 67 | ||
- | 68 | struct str_ToNaviCtrl_Version |
|
- | 69 | { |
|
- | 70 | unsigned char Sync1, Sync2; |
|
- | 71 | unsigned char Command; |
|
- | 72 | unsigned char HVersion; |
|
- | 73 | unsigned char NVersion; |
|
- | 74 | unsigned char Comp; |
|
- | 75 | unsigned char d0; |
|
- | 76 | signed int d1; |
|
- | 77 | signed int d2; |
|
- | 78 | signed int d3; |
|
- | 79 | signed int d4; |
|
- | 80 | signed int d5; |
|
- | 81 | signed int d6; |
|
- | 82 | signed int d7; |
|
- | 83 | unsigned char Chksum; |
|
58 | }; |
84 | }; |
59 | 85 | ||
60 | struct str_FromNaviCtrl |
86 | struct str_FromNaviCtrl_Value |
- | 87 | { |
|
61 | { |
88 | unsigned char Command; |
62 | unsigned int Dummy; |
89 | signed int GPS_Nick; |
63 | unsigned char Comp; |
90 | signed int GPS_Roll; |
64 | int GPS_Nick; |
91 | signed int GPS_Gier; |
- | 92 | signed int GPS_Height; |
|
- | 93 | signed int CompassValue; |
|
- | 94 | signed int Status; |
|
- | 95 | signed int d0; |
|
- | 96 | signed int d1; |
|
65 | int GPS_Roll; |
97 | signed int d2; |
- | 98 | unsigned char Chksum; |
|
- | 99 | }; |
|
- | 100 | ||
- | 101 | struct str_FromNaviCtrl_Version |
|
- | 102 | { |
|
- | 103 | unsigned char Command; |
|
- | 104 | unsigned char HVersion; |
|
- | 105 | unsigned char NVersion; |
|
- | 106 | unsigned char Comp; |
|
- | 107 | unsigned char d0; |
|
- | 108 | signed int d1; |
|
- | 109 | signed int d2; |
|
- | 110 | signed int d3; |
|
- | 111 | signed int d4; |
|
- | 112 | signed int d5; |
|
- | 113 | signed int d6; |
|
- | 114 | signed int d7; |
|
66 | int CompassValue; |
115 | unsigned char Chksum; |
- | 116 | }; |
|
- | 117 | ||
- | 118 | #ifdef USE_SPI_COMMUNICATION |
|
67 | }; |
119 | extern struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
68 | 120 | extern struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
|
- | 121 | ||
- | 122 | extern struct str_ToNaviCtrl_Value ToNaviCtrl_Value; |
|
69 | #ifdef USE_SPI_COMMUNICATION |
123 | extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
70 | extern struct str_ToNaviCtrl ToNaviCtrl; |
124 | |
71 | extern struct str_FromNaviCtrl FromNaviCtrl; |
125 | #define SPI_CMD_VERSION 0x02 |
72 | 126 | #define SPI_CMD_VALUE 0x03 |
|
73 | 127 | ||
74 | extern void SPI_MasterInit(void); |
128 | extern void SPI_MasterInit(void); |
75 | extern void SPI_StartTransmitPacket(void); |
129 | extern void SPI_StartTransmitPacket(unsigned char command); |
76 | extern void UpdateSPI_Buffer(void); |
130 | extern void UpdateSPI_Buffer(void); |
77 | extern void SPI_TransmitByte(void); |
131 | extern void SPI_TransmitByte(void); |
78 | #else |
132 | #else |
79 | 133 | ||
80 | 134 | ||
81 | // -------------------------------- Dummy ----------------------------------------- |
135 | // -------------------------------- Dummy ----------------------------------------- |
82 | #define SPI_MasterInit() ; |
136 | #define SPI_MasterInit() ; |
83 | #define SPI_StartTransmitPacket() ; |
137 | #define SPI_StartTransmitPacket() ; |
84 | #define UpdateSPI_Buffer() ; |
138 | #define UpdateSPI_Buffer() ; |
85 | #define SPI_TransmitByte() ; |
139 | #define SPI_TransmitByte() ; |
86 | #endif |
140 | #endif |
87 | 141 | ||
88 | 142 | ||
89 | #endif |
143 | #endif |
90 | 144 |