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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 | #define SPI_PROTOCOL_COMP 1 |
5 | #define SPI_PROTOCOL_COMP 1 |
6 | 6 | ||
7 | //----------------------------------------- |
7 | //----------------------------------------- |
8 | #define DDR_SPI DDRB |
8 | #define DDR_SPI DDRB |
9 | #define DD_SS PB4 |
9 | #define DD_SS PB4 |
10 | #define DD_SCK PB7 |
10 | #define DD_SCK PB7 |
11 | #define DD_MOSI PB5 |
11 | #define DD_MOSI PB5 |
12 | #define DD_MISO PB6 |
12 | #define DD_MISO PB6 |
- | 13 | ||
- | 14 | // for compatibility reasons gcc3.x <-> gcc4.x |
|
- | 15 | #ifndef SPCR |
|
- | 16 | #define SPCR SPCR0 |
|
- | 17 | #endif |
|
- | 18 | #ifndef SPE |
|
- | 19 | #define SPE SPE0 |
|
- | 20 | #endif |
|
- | 21 | #ifndef MSTR |
|
- | 22 | #define MSTR MSTR0 |
|
- | 23 | #endif |
|
- | 24 | #ifndef SPR1 |
|
- | 25 | #define SPR1 SPR01 |
|
- | 26 | #endif |
|
- | 27 | #ifndef SPIE |
|
- | 28 | #define SPIE SPIE0 |
|
- | 29 | #endif |
|
- | 30 | #ifndef SPDR |
|
- | 31 | #define SPDR SPDR0 |
|
- | 32 | #endif |
|
- | 33 | #ifndef SPIF |
|
- | 34 | #define SPIF SPIF0 |
|
- | 35 | #endif |
|
- | 36 | #ifndef SPSR |
|
- | 37 | #define SPSR SPSR0 |
|
- | 38 | #endif |
|
13 | 39 | // ------------------------- |
|
14 | 40 | ||
15 | #define SLAVE_SELECT_DDR_PORT DDRC |
41 | #define SLAVE_SELECT_DDR_PORT DDRC |
16 | #define SLAVE_SELECT_PORT PORTC |
42 | #define SLAVE_SELECT_PORT PORTC |
17 | #define SPI_SLAVE_SELECT PC5 |
43 | #define SPI_SLAVE_SELECT PC5 |
18 | 44 | ||
19 | struct str_ToNaviCtrl |
45 | struct str_ToNaviCtrl |
20 | { |
46 | { |
21 | unsigned char Comp; |
47 | unsigned char Comp; |
22 | int IntegralNick; |
48 | int IntegralNick; |
23 | int IntegralRoll; |
49 | int IntegralRoll; |
24 | char StickNick,StickRoll,StickGier; |
50 | char StickNick,StickRoll,StickGier; |
25 | }; |
51 | }; |
26 | 52 | ||
27 | struct str_FromNaviCtrl |
53 | struct str_FromNaviCtrl |
28 | { |
54 | { |
- | 55 | unsigned int Dummy; |
|
29 | unsigned char Comp; |
56 | unsigned char Comp; |
30 | int GPS_Nick; |
57 | int GPS_Nick; |
31 | int GPS_Roll; |
58 | int GPS_Roll; |
32 | int CompassValue; |
59 | int CompassValue; |
33 | }; |
60 | }; |
34 | 61 | ||
35 | extern struct str_ToNaviCtrl ToNaviCtrl; |
62 | extern struct str_ToNaviCtrl ToNaviCtrl; |
36 | extern struct str_FromNaviCtrl FromNaviCtrl; |
63 | extern struct str_FromNaviCtrl FromNaviCtrl; |
37 | 64 | ||
38 | 65 | ||
39 | extern void SPI_MasterInit(void); |
66 | extern void SPI_MasterInit(void); |
40 | extern void SPI_StartTransmitPacket(void); |
67 | extern void SPI_StartTransmitPacket(void); |
41 | extern void UpdateSPI_Buffer(void); |
68 | extern void UpdateSPI_Buffer(void); |
42 | extern void SPI_TransmitByte(void); |
69 | extern void SPI_TransmitByte(void); |
43 | 70 | ||
44 | 71 | ||
45 | 72 | ||
46 | #endif |
73 | #endif |
47 | - |