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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 | struct str_ToNaviCtrl_Value |
52 | struct str_ToNaviCtrl_Value |
53 | { |
53 | { |
54 | unsigned char Sync1, Sync2; |
54 | unsigned char Sync1, Sync2; |
55 | unsigned char Command; |
55 | unsigned char Command; |
56 | signed int IntegralNick; |
56 | signed int IntegralNick; |
57 | signed int IntegralRoll; |
57 | signed int IntegralRoll; |
- | 58 | signed int AccNick; |
|
- | 59 | signed int AccRoll; |
|
58 | char StickNick,StickRoll, |
60 | char StickNick,StickRoll, |
59 | StickGier, StickGas; |
61 | StickGier, StickGas; |
60 | signed int GyroCompass; |
62 | signed int GyroCompass; |
61 | char User1, User2, User3, User4, User5, User6, User7, User8; |
63 | char User1, User2, User3, User4, User5, User6, User7, User8; |
62 | unsigned char Chksum; |
64 | unsigned char Chksum; |
63 | }; |
65 | }; |
64 | 66 | ||
65 | struct str_ToNaviCtrl_Version |
67 | struct str_ToNaviCtrl_Version |
66 | { |
68 | { |
67 | unsigned char Sync1, Sync2; |
69 | unsigned char Sync1, Sync2; |
68 | unsigned char Command; |
70 | unsigned char Command; |
69 | unsigned char HVersion; |
71 | unsigned char HVersion; |
70 | unsigned char NVersion; |
72 | unsigned char NVersion; |
71 | unsigned char Comp; |
73 | unsigned char Comp; |
72 | unsigned char ActualSettingNo; |
74 | unsigned char ActualSettingNo; |
73 | unsigned char MinimumSatNo; |
75 | unsigned char MinimumSatNo; |
74 | unsigned char d1; |
76 | unsigned char d1; |
75 | signed int d2; |
77 | signed int d2; |
76 | signed int d3; |
78 | signed int d3; |
77 | signed int d4; |
79 | signed int d4; |
78 | signed int d5; |
80 | signed int d5; |
79 | signed int d6; |
81 | signed int d6; |
80 | signed int d7; |
82 | signed int d7; |
81 | unsigned char Chksum; |
83 | unsigned char Chksum; |
82 | }; |
84 | }; |
83 | 85 | ||
84 | struct str_FromNaviCtrl_Value |
86 | struct str_FromNaviCtrl_Value |
85 | { |
87 | { |
86 | unsigned char Command; |
88 | unsigned char Command; |
87 | signed int GPS_Nick; |
89 | signed int GPS_Nick; |
88 | signed int GPS_Roll; |
90 | signed int GPS_Roll; |
89 | signed int GPS_Gier; |
91 | signed int GPS_Gier; |
90 | signed int GPS_Height; |
92 | signed int GPS_Height; |
91 | signed int CompassValue; |
93 | signed int CompassValue; |
92 | signed int Status; |
94 | signed int Status; |
93 | unsigned char BeepTime; |
95 | unsigned char BeepTime; |
94 | unsigned char OsdBar; |
96 | unsigned char OsdBar; |
95 | signed int Distance; |
97 | signed int Distance; |
96 | signed int d2; |
98 | signed int d2; |
- | 99 | signed int d3; |
|
- | 100 | signed int d4; |
|
97 | unsigned char Chksum; |
101 | unsigned char Chksum; |
98 | }; |
102 | }; |
99 | 103 | ||
100 | struct str_FromNaviCtrl_Version |
104 | struct str_FromNaviCtrl_Version |
101 | { |
105 | { |
102 | unsigned char Command; |
106 | unsigned char Command; |
103 | unsigned char HVersion; |
107 | unsigned char HVersion; |
104 | unsigned char NVersion; |
108 | unsigned char NVersion; |
105 | unsigned char Comp; |
109 | unsigned char Comp; |
106 | unsigned char d0; |
110 | unsigned char d0; |
107 | signed int d1; |
111 | signed int d1; |
108 | signed int d2; |
112 | signed int d2; |
109 | signed int d3; |
113 | signed int d3; |
110 | signed int d4; |
114 | signed int d4; |
111 | signed int d5; |
115 | signed int d5; |
112 | signed int d6; |
116 | signed int d6; |
113 | signed int d7; |
117 | signed int d7; |
114 | unsigned char Chksum; |
118 | unsigned char Chksum; |
115 | }; |
119 | }; |
116 | 120 | ||
117 | #ifdef USE_SPI_COMMUNICATION |
121 | #ifdef USE_SPI_COMMUNICATION |
118 | extern struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
122 | extern struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
119 | extern struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
123 | extern struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
120 | 124 | ||
121 | extern struct str_ToNaviCtrl_Value ToNaviCtrl_Value; |
125 | extern struct str_ToNaviCtrl_Value ToNaviCtrl_Value; |
122 | extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
126 | extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
123 | 127 | ||
124 | #define SPI_CMD_VERSION 0x02 |
128 | #define SPI_CMD_VERSION 0x02 |
125 | #define SPI_CMD_VALUE 0x03 |
129 | #define SPI_CMD_VALUE 0x03 |
126 | 130 | ||
127 | extern void SPI_MasterInit(void); |
131 | extern void SPI_MasterInit(void); |
128 | extern void SPI_StartTransmitPacket(unsigned char command); |
132 | extern void SPI_StartTransmitPacket(unsigned char command); |
129 | extern void UpdateSPI_Buffer(void); |
133 | extern void UpdateSPI_Buffer(void); |
130 | extern void SPI_TransmitByte(void); |
134 | extern void SPI_TransmitByte(void); |
131 | #else |
135 | #else |
132 | 136 | ||
133 | 137 | ||
134 | // -------------------------------- Dummy ----------------------------------------- |
138 | // -------------------------------- Dummy ----------------------------------------- |
135 | #define SPI_MasterInit() ; |
139 | #define SPI_MasterInit() ; |
136 | #define SPI_StartTransmitPacket() ; |
140 | #define SPI_StartTransmitPacket() ; |
137 | #define UpdateSPI_Buffer() ; |
141 | #define UpdateSPI_Buffer() ; |
138 | #define SPI_TransmitByte() ; |
142 | #define SPI_TransmitByte() ; |
139 | #endif |
143 | #endif |
140 | 144 | ||
141 | 145 | ||
142 | #endif |
146 | #endif |
143 | 147 |