WebSVN - FlightCtrl - Diff - Rev 1241 and 1283 - /branches/V0.76g-FredericG/spi.h


// ######################## SPI - FlightCtrl ###################
#ifndef _SPI_H
#define _SPI_H
 
#include <util/delay.h>
 
#define USE_SPI_COMMUNICATION
 
 
 
//-----------------------------------------
#define DDR_SPI DDRB
#define DD_SS   PB4
#define DD_SCK  PB7
#define DD_MOSI PB5
#define DD_MISO PB6
 
// for compatibility reasons gcc3.x <-> gcc4.x
#ifndef SPCR
#define SPCR   SPCR0
#endif
#ifndef SPE
#define SPE   SPE0
#endif
#ifndef MSTR
#define MSTR   MSTR0
#endif
#ifndef SPR1
#define SPR1   SPR01
#endif
#ifndef SPR0
#define SPR0   SPR00
#endif
#ifndef SPIE
#define SPIE   SPIE0
#endif
#ifndef SPDR
#define SPDR   SPDR0
#endif
#ifndef SPIF
#define SPIF   SPIF0
#endif
#ifndef SPSR
#define SPSR   SPSR0
#endif
// -------------------------
 
#define SLAVE_SELECT_DDR_PORT   DDRC
#define SLAVE_SELECT_PORT       PORTC
#define SPI_SLAVE_SELECT        PC5
 
 
#define SPI_CMD_USER        10
#define SPI_CMD_STICK       11
#define SPI_CMD_MISC        12
#define SPI_CMD_PARAMETER1  13
#define SPI_CMD_VERSION     14
#define SPI_CMD_SERVOS          15
 
struct str_ToNaviCtrl
{
        unsigned char Sync1, Sync2;
        unsigned char Command;
        signed int  IntegralNick;
        signed int  IntegralRoll;
        signed int  AccNick;
        signed int  AccRoll;
        signed int  GyroCompass;
        signed int  GyroNick;
        signed int  GyroRoll;
        signed int  GyroGier;
        union
        {
                char sByte[12];
                unsigned char Byte[12];
                int  Int[6];
                long Long[3];
                float Float[3];
        } Param;
        unsigned char Chksum;
};
 
#define SPI_KALMAN          103
 
struct str_FromNaviCtrl
{
        unsigned char Command;
        signed int  GPS_Nick;
        signed int  GPS_Roll;
        signed int  GPS_Gier;
        signed int  CompassValue;
        signed int  Status;
        unsigned int BeepTime;
        union
        {
                char sByte[12];
                unsigned char Byte[12];
                int  Int[6];
                long Long[3];
                float Float[3];
        } Param;
        unsigned char Chksum;
};
 
struct str_FromNaviCtrl_Value
{
 signed char Kalman_K;
 signed char Kalman_MaxDrift;
 signed char Kalman_MaxFusion;
 unsigned char SerialDataOkay;
 signed char GpsZ;
};
 
struct str_SPI_VersionInfo
{
  unsigned char Major;
  unsigned char Minor;
  unsigned char Patch;
  unsigned char Compatible;
};
 
#ifdef USE_SPI_COMMUNICATION
 
extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
extern struct str_ToNaviCtrl   ToNaviCtrl;
extern struct str_FromNaviCtrl FromNaviCtrl;
extern unsigned char SPI_CommandCounter,NaviDataOkay;
 
//#define SPI_CMD_VALUE   0x03
 
extern void SPI_MasterInit(void);
extern void SPI_StartTransmitPacket(void);
extern void UpdateSPI_Buffer(void);
extern void SPI_TransmitByte(void);
#else
 
 
// -------------------------------- Dummy -----------------------------------------
#define  SPI_MasterInit() ;
#define  SPI_StartTransmitPacket() ;
#define  UpdateSPI_Buffer() ;
#define  SPI_TransmitByte() ;
#endif
 
 
#endif
 

Rev 1241	Rev 1283
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		-
9	#define SPI_PROTOCOL_COMP 1	-
10		8
11	//-----------------------------------------	9	//-----------------------------------------
12	#define DDR_SPI DDRB	10	#define DDR_SPI DDRB
13	#define DD_SS PB4	11	#define DD_SS PB4
14	#define DD_SCK PB7	12	#define DD_SCK PB7
15	#define DD_MOSI PB5	13	#define DD_MOSI PB5
16	#define DD_MISO PB6	14	#define DD_MISO PB6
17		15
18	// for compatibility reasons gcc3.x <-> gcc4.x	16	// for compatibility reasons gcc3.x <-> gcc4.x
19	#ifndef SPCR	17	#ifndef SPCR
20	#define SPCR SPCR0	18	#define SPCR SPCR0
21	#endif	19	#endif
22	#ifndef SPE	20	#ifndef SPE
23	#define SPE SPE0	21	#define SPE SPE0
24	#endif	22	#endif
25	#ifndef MSTR	23	#ifndef MSTR
26	#define MSTR MSTR0	24	#define MSTR MSTR0
27	#endif	25	#endif
28	#ifndef SPR1	26	#ifndef SPR1
29	#define SPR1 SPR01	27	#define SPR1 SPR01
30	#endif	28	#endif
31	#ifndef SPR0	29	#ifndef SPR0
32	#define SPR0 SPR00	30	#define SPR0 SPR00
33	#endif	31	#endif
34	#ifndef SPIE	32	#ifndef SPIE
35	#define SPIE SPIE0	33	#define SPIE SPIE0
36	#endif	34	#endif
37	#ifndef SPDR	35	#ifndef SPDR
38	#define SPDR SPDR0	36	#define SPDR SPDR0
39	#endif	37	#endif
40	#ifndef SPIF	38	#ifndef SPIF
41	#define SPIF SPIF0	39	#define SPIF SPIF0
42	#endif	40	#endif
43	#ifndef SPSR	41	#ifndef SPSR
44	#define SPSR SPSR0	42	#define SPSR SPSR0
45	#endif	43	#endif
46	// -------------------------	44	// -------------------------
47		45
48	#define SLAVE_SELECT_DDR_PORT DDRC	46	#define SLAVE_SELECT_DDR_PORT DDRC
49	#define SLAVE_SELECT_PORT PORTC	47	#define SLAVE_SELECT_PORT PORTC
50	#define SPI_SLAVE_SELECT PC5	48	#define SPI_SLAVE_SELECT PC5
51		49
52		50
53	#define SPI_CMD_USER 10	51	#define SPI_CMD_USER 10
54	#define SPI_CMD_STICK 11	52	#define SPI_CMD_STICK 11
55	#define SPI_CMD_MISC 12	53	#define SPI_CMD_MISC 12
56	#define SPI_CMD_PARAMETER1 13	54	#define SPI_CMD_PARAMETER1 13
57	#define SPI_CMD_VERSION 14	55	#define SPI_CMD_VERSION 14
58	#define SPI_CMD_SERVOS 15	56	#define SPI_CMD_SERVOS 15
59		57
60	struct str_ToNaviCtrl	58	struct str_ToNaviCtrl
61	{	59	{
62	unsigned char Sync1, Sync2;	60	unsigned char Sync1, Sync2;
63	unsigned char Command;	61	unsigned char Command;
64	signed int IntegralNick;	62	signed int IntegralNick;
65	signed int IntegralRoll;	63	signed int IntegralRoll;
66	signed int AccNick;	64	signed int AccNick;
67	signed int AccRoll;	65	signed int AccRoll;
68	signed int GyroCompass;	66	signed int GyroCompass;
69	signed int GyroNick;	67	signed int GyroNick;
70	signed int GyroRoll;	68	signed int GyroRoll;
71	signed int GyroGier;	69	signed int GyroGier;
72	union	70	union
73	{	71	{
74	char sByte[12];	72	char sByte[12];
75	unsigned char Byte[12];	73	unsigned char Byte[12];
76	int Int[6];	74	int Int[6];
77	long Long[3];	75	long Long[3];
78	float Float[3];	76	float Float[3];
79	} Param;	77	} Param;
80	unsigned char Chksum;	78	unsigned char Chksum;
81	};	79	};
82		80
83	#define SPI_KALMAN 103	81	#define SPI_KALMAN 103
84		82
85	struct str_FromNaviCtrl	83	struct str_FromNaviCtrl
86	{	84	{
87	unsigned char Command;	85	unsigned char Command;
88	signed int GPS_Nick;	86	signed int GPS_Nick;
89	signed int GPS_Roll;	87	signed int GPS_Roll;
90	signed int GPS_Gier;	88	signed int GPS_Gier;
91	signed int CompassValue;	89	signed int CompassValue;
92	signed int Status;	90	signed int Status;
93	unsigned int BeepTime;	91	unsigned int BeepTime;
94	union	92	union
95	{	93	{
96	char sByte[12];	94	char sByte[12];
97	unsigned char Byte[12];	95	unsigned char Byte[12];
98	int Int[6];	96	int Int[6];
99	long Long[3];	97	long Long[3];
100	float Float[3];	98	float Float[3];
101	} Param;	99	} Param;
102	unsigned char Chksum;	100	unsigned char Chksum;
103	};	101	};
104		102
105	struct str_FromNaviCtrl_Value	103	struct str_FromNaviCtrl_Value
106	{	104	{
107	signed char Kalman_K;	105	signed char Kalman_K;
108	signed char Kalman_MaxDrift;	106	signed char Kalman_MaxDrift;
109	signed char Kalman_MaxFusion;	107	signed char Kalman_MaxFusion;
110	unsigned char SerialDataOkay;	108	unsigned char SerialDataOkay;
-		109	signed char GpsZ;
111	};	110	};
112		111
113	struct str_SPI_VersionInfo	112	struct str_SPI_VersionInfo
114	{	113	{
115	unsigned char Major;	114	unsigned char Major;
116	unsigned char Minor;	115	unsigned char Minor;
117	unsigned char Patch;	116	unsigned char Patch;
118	unsigned char Compatible;	117	unsigned char Compatible;
119	};	118	};
120		119
121	#ifdef USE_SPI_COMMUNICATION	120	#ifdef USE_SPI_COMMUNICATION
122		121
123	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;	122	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
124	extern struct str_ToNaviCtrl ToNaviCtrl;	123	extern struct str_ToNaviCtrl ToNaviCtrl;
125	extern struct str_FromNaviCtrl FromNaviCtrl;	124	extern struct str_FromNaviCtrl FromNaviCtrl;
126	extern unsigned char SPI_CommandCounter,NaviDataOkay;	125	extern unsigned char SPI_CommandCounter,NaviDataOkay;
127		126
128	//#define SPI_CMD_VALUE 0x03	127	//#define SPI_CMD_VALUE 0x03
129		128
130	extern void SPI_MasterInit(void);	129	extern void SPI_MasterInit(void);
131	extern void SPI_StartTransmitPacket(void);	130	extern void SPI_StartTransmitPacket(void);
132	extern void UpdateSPI_Buffer(void);	131	extern void UpdateSPI_Buffer(void);
133	extern void SPI_TransmitByte(void);	132	extern void SPI_TransmitByte(void);
134	#else	133	#else
135		134
136		135
137	// -------------------------------- Dummy -----------------------------------------	136	// -------------------------------- Dummy -----------------------------------------
138	#define SPI_MasterInit() ;	137	#define SPI_MasterInit() ;
139	#define SPI_StartTransmitPacket() ;	138	#define SPI_StartTransmitPacket() ;
140	#define UpdateSPI_Buffer() ;	139	#define UpdateSPI_Buffer() ;
141	#define SPI_TransmitByte() ;	140	#define SPI_TransmitByte() ;
142	#endif	141	#endif
143		142
144		143
145	#endif	144	#endif
146		145

Subversion Repositories FlightCtrl

(root)/branches/V0.76g-FredericG/spi.h @ 1850 - Rev 1241 → 1283