WebSVN - FlightCtrl - Diff - Rev 805 and 819 - /branches/V0.76g


// ######################## SPI - FlightCtrl ###################
#ifndef _SPI_H
#define _SPI_H
 
#include <util/delay.h>
 
#define USE_SPI_COMMUNICATION 
 
#define SPI_PROTOCOL_COMP   1
 
//-----------------------------------------
#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
 
struct str_ToNaviCtrl_Value
{
 unsigned char Sync1, Sync2;
 unsigned char Command;
 signed int  IntegralNick;
 signed int  IntegralRoll;
 signed int  AccNick;
 signed int  AccRoll;
 char StickNick,StickRoll, StickGier, StickGas;
 
 signed int  GyroCompass;
 unsigned char User1, User2, User3, User4, User5, User6, User7;//, User8;
 unsigned char CalState;
 unsigned char Chksum;
};
 
 struct str_ToNaviCtrl_Version
 {
  unsigned char Sync1, Sync2;
  unsigned char Command;
  unsigned char  HVersion;
  unsigned char  NVersion;
  unsigned char  Comp;
  unsigned char  ActualSettingNo;
  unsigned char  MinimumSatNo;
  unsigned char  d1;
  signed int  d2;
  signed int  d3;
  signed int  d4;
  signed int  d5;
  signed int  d6;
  signed int  d7;
  unsigned char Chksum;
 };
 
struct str_FromNaviCtrl_Value
{
 unsigned char Command;
  signed int  GPS_Nick;
  signed int  GPS_Roll;
  signed int  GPS_Gier;
  signed int  GPS_Height;
  signed int  CompassValue;
  signed int  Status;
  unsigned char BeepTime;
  unsigned char OsdBar;
  signed int  Distance;
  signed int  d2;
  signed int  d3;
  signed int  d4;
  unsigned char Chksum;
};
 
 struct str_FromNaviCtrl_Version
 {
  unsigned char Command;
  unsigned char  HVersion;
  unsigned char  NVersion;
  unsigned char  Comp;
  unsigned char  d0;
  signed int  d1;
  signed int  d2;
  signed int  d3;
  signed int  d4;
  signed int  d5;
  signed int  d6;
  signed int  d7;
  unsigned char Chksum;
 };
 
#ifdef USE_SPI_COMMUNICATION
extern struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
extern struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
 
extern struct str_ToNaviCtrl_Value   ToNaviCtrl_Value;
extern struct str_FromNaviCtrl_Value   FromNaviCtrl_Value;
 
#define SPI_CMD_VERSION 0x02
#define SPI_CMD_VALUE   0x03
 
extern void SPI_MasterInit(void);
extern void SPI_StartTransmitPacket(unsigned char command);
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 805	Rev 819
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;	58	signed int AccNick;
59	signed int AccRoll;	59	signed int AccRoll;
60	char StickNick,StickRoll,	60	char StickNick,StickRoll, StickGier, StickGas;
61	StickGier, StickGas;	-
62	signed int GyroCompass;	61	signed int GyroCompass;
63	char User1, User2, User3, User4, User5, User6, User7, User8;	62	unsigned char User1, User2, User3, User4, User5, User6, User7;//, User8;
-		63	unsigned char CalState;
64	unsigned char Chksum;	64	unsigned char Chksum;
65	};	65	};
66		66
67	struct str_ToNaviCtrl_Version	67	struct str_ToNaviCtrl_Version
68	{	68	{
69	unsigned char Sync1, Sync2;	69	unsigned char Sync1, Sync2;
70	unsigned char Command;	70	unsigned char Command;
71	unsigned char HVersion;	71	unsigned char HVersion;
72	unsigned char NVersion;	72	unsigned char NVersion;
73	unsigned char Comp;	73	unsigned char Comp;
74	unsigned char ActualSettingNo;	74	unsigned char ActualSettingNo;
75	unsigned char MinimumSatNo;	75	unsigned char MinimumSatNo;
76	unsigned char d1;	76	unsigned char d1;
77	signed int d2;	77	signed int d2;
78	signed int d3;	78	signed int d3;
79	signed int d4;	79	signed int d4;
80	signed int d5;	80	signed int d5;
81	signed int d6;	81	signed int d6;
82	signed int d7;	82	signed int d7;
83	unsigned char Chksum;	83	unsigned char Chksum;
84	};	84	};
85		85
86	struct str_FromNaviCtrl_Value	86	struct str_FromNaviCtrl_Value
87	{	87	{
88	unsigned char Command;	88	unsigned char Command;
89	signed int GPS_Nick;	89	signed int GPS_Nick;
90	signed int GPS_Roll;	90	signed int GPS_Roll;
91	signed int GPS_Gier;	91	signed int GPS_Gier;
92	signed int GPS_Height;	92	signed int GPS_Height;
93	signed int CompassValue;	93	signed int CompassValue;
94	signed int Status;	94	signed int Status;
95	unsigned char BeepTime;	95	unsigned char BeepTime;
96	unsigned char OsdBar;	96	unsigned char OsdBar;
97	signed int Distance;	97	signed int Distance;
98	signed int d2;	98	signed int d2;
99	signed int d3;	99	signed int d3;
100	signed int d4;	100	signed int d4;
101	unsigned char Chksum;	101	unsigned char Chksum;
102	};	102	};
103		103
104	struct str_FromNaviCtrl_Version	104	struct str_FromNaviCtrl_Version
105	{	105	{
106	unsigned char Command;	106	unsigned char Command;
107	unsigned char HVersion;	107	unsigned char HVersion;
108	unsigned char NVersion;	108	unsigned char NVersion;
109	unsigned char Comp;	109	unsigned char Comp;
110	unsigned char d0;	110	unsigned char d0;
111	signed int d1;	111	signed int d1;
112	signed int d2;	112	signed int d2;
113	signed int d3;	113	signed int d3;
114	signed int d4;	114	signed int d4;
115	signed int d5;	115	signed int d5;
116	signed int d6;	116	signed int d6;
117	signed int d7;	117	signed int d7;
118	unsigned char Chksum;	118	unsigned char Chksum;
119	};	119	};
120		120
121	#ifdef USE_SPI_COMMUNICATION	121	#ifdef USE_SPI_COMMUNICATION
122	extern struct str_ToNaviCtrl_Version ToNaviCtrl_Version;	122	extern struct str_ToNaviCtrl_Version ToNaviCtrl_Version;
123	extern struct str_FromNaviCtrl_Version FromNaviCtrl_Version;	123	extern struct str_FromNaviCtrl_Version FromNaviCtrl_Version;
124		124
125	extern struct str_ToNaviCtrl_Value ToNaviCtrl_Value;	125	extern struct str_ToNaviCtrl_Value ToNaviCtrl_Value;
126	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;	126	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
127		127
128	#define SPI_CMD_VERSION 0x02	128	#define SPI_CMD_VERSION 0x02
129	#define SPI_CMD_VALUE 0x03	129	#define SPI_CMD_VALUE 0x03
130		130
131	extern void SPI_MasterInit(void);	131	extern void SPI_MasterInit(void);
132	extern void SPI_StartTransmitPacket(unsigned char command);	132	extern void SPI_StartTransmitPacket(unsigned char command);
133	extern void UpdateSPI_Buffer(void);	133	extern void UpdateSPI_Buffer(void);
134	extern void SPI_TransmitByte(void);	134	extern void SPI_TransmitByte(void);
135	#else	135	#else
136		136
137		137
138	// -------------------------------- Dummy -----------------------------------------	138	// -------------------------------- Dummy -----------------------------------------
139	#define SPI_MasterInit() ;	139	#define SPI_MasterInit() ;
140	#define SPI_StartTransmitPacket() ;	140	#define SPI_StartTransmitPacket() ;
141	#define UpdateSPI_Buffer() ;	141	#define UpdateSPI_Buffer() ;
142	#define SPI_TransmitByte() ;	142	#define SPI_TransmitByte() ;
143	#endif	143	#endif
144		144
145		145
146	#endif	146	#endif
147		147

Subversion Repositories FlightCtrl

(root)/branches/V0.76g_VarMotorSmoothing/spi.h @ 1626 - Rev 805 → 819