Subversion Repositories FlightCtrl

Rev

Rev 819 | Rev 825 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 819 Rev 823
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 
 
- 
 
 52 
 
- 
 
 53 
#define SPI_CMD_USER        10
- 
 
 54 
#define SPI_CMD_STICK       11
51 
 
 55 
#define SPI_CMD_CAL_COMPASS 12
52 
struct str_ToNaviCtrl_Value
 56 
struct str_ToNaviCtrl
53 
{
 57 
{
54 
 unsigned char Sync1, Sync2;
 58 
 unsigned char Sync1, Sync2;
55 
 unsigned char Command;
 59 
 unsigned char Command;
56 
 signed int  IntegralNick;
 60 
 signed int  IntegralNick;
57 
 signed int  IntegralRoll;
 61 
 signed int  IntegralRoll;
58 
 signed int  AccNick;
 62 
 signed int  AccNick;
59 
 signed int  AccRoll;
 63 
 signed int  AccRoll;
60 
 char StickNick,StickRoll, StickGier, StickGas;
 - 
 
61 
 signed int  GyroCompass;
 64 
 signed int  GyroCompass;
- 
 
 65 
 signed int  GyroNick;
62 
 unsigned char User1, User2, User3, User4, User5, User6, User7;//, User8;
 66 
 signed int  GyroRoll;
63 
 unsigned char CalState;
 67 
 signed int  GyroGier;
- 
 
 68 
 union  
- 
 
 69 
 { char Byte[12];
- 
 
 70 
   int  Int[6];
- 
 
 71 
   long Long[3];
- 
 
 72 
   float Float[3];
- 
 
 73 
 } Param;
64 
 unsigned char Chksum;
 74 
 unsigned char Chksum;
65 
};
 75 
};
66 
 
 76 
 
67 
 struct str_ToNaviCtrl_Version
 - 
 
68 
 {
 77 
#define SPI_CMD_OSD_DATA         100
69 
  unsigned char Sync1, Sync2;
 - 
 
70 
  unsigned char Command;
 - 
 
71 
  unsigned char  HVersion;
 - 
 
72 
  unsigned char  NVersion;
 - 
 
73 
  unsigned char  Comp;
 78 
#define SPI_CMD_GPS_POS          101
74 
  unsigned char  ActualSettingNo;
 - 
 
75 
  unsigned char  MinimumSatNo;
 - 
 
76 
  unsigned char  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;
 - 
 
84 
 };
 - 
 
85 
 
 79 
#define SPI_CMD_GPS_TARGET   102
86 
struct str_FromNaviCtrl_Value
 80 
struct str_FromNaviCtrl
87 
{
 81 
{
88 
 unsigned char Command;
 82 
 unsigned char Command;
89 
  signed int  GPS_Nick;
 83 
  signed int  GPS_Nick;
90 
  signed int  GPS_Roll;
 84 
  signed int  GPS_Roll;
91 
  signed int  GPS_Gier;
 85 
  signed int  GPS_Gier;
92 
  signed int  GPS_Height;
 - 
 
93 
  signed int  CompassValue;
 86 
  signed int  CompassValue;
94 
  signed int  Status;
 87 
  signed int  Status;
95 
  unsigned char BeepTime;
 88 
  unsigned char BeepTime;
- 
 
 89 
  union  
96 
  unsigned char OsdBar;
 90 
  { char Byte[12];
97 
  signed int  Distance;
 91 
    int  Int[6];
98 
  signed int  d2;
 92 
    long Long[3];
99 
  signed int  d3;
 93 
    float Float[3];
100 
  signed int  d4;
 94 
  } Param;
101 
  unsigned char Chksum;
 95 
  unsigned char Chksum;
102 
};
 96 
};
103 
 
 - 
 
104 
 struct str_FromNaviCtrl_Version
 - 
 
105 
 {
 - 
 
106 
  unsigned char Command;
 - 
 
107 
  unsigned char  HVersion;
 - 
 
108 
  unsigned char  NVersion;
 - 
 
109 
  unsigned char  Comp;
 - 
 
110 
  unsigned char  d0;
 - 
 
111 
  signed int  d1;
 - 
 
112 
  signed int  d2;
 - 
 
113 
  signed int  d3;
 - 
 
114 
  signed int  d4;
 - 
 
115 
  signed int  d5;
 - 
 
116 
  signed int  d6;
 - 
 
117 
  signed int  d7;
 - 
 
118 
  unsigned char Chksum;
 - 
 
119 
 };
 97 
 
120 
 
 - 
 
121 
#ifdef USE_SPI_COMMUNICATION
 - 
 
122 
extern struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
 98 
 
123 
extern struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
 99 
#ifdef USE_SPI_COMMUNICATION
124 
 
 - 
 
125 
extern struct str_ToNaviCtrl_Value   ToNaviCtrl_Value;
 100 
 
126 
extern struct str_FromNaviCtrl_Value   FromNaviCtrl_Value;
 101 
extern struct str_ToNaviCtrl   ToNaviCtrl;
127 
 
 102 
extern struct str_FromNaviCtrl FromNaviCtrl;
128 
#define SPI_CMD_VERSION 0x02
 103 
 
129 
#define SPI_CMD_VALUE   0x03
 104 
//#define SPI_CMD_VALUE   0x03
130 
 
 105 
 
131 
extern void SPI_MasterInit(void);
 106 
extern void SPI_MasterInit(void);
132 
extern void SPI_StartTransmitPacket(unsigned char command);
 107 
extern void SPI_StartTransmitPacket(void);
133 
extern void UpdateSPI_Buffer(void);
 108 
extern void UpdateSPI_Buffer(void);
134 
extern void SPI_TransmitByte(void);
 109 
extern void SPI_TransmitByte(void);
135 
#else
 110 
#else
136 
 
 111 
 
137 
 
 112 
 
138 
// -------------------------------- Dummy -----------------------------------------
 113 
// -------------------------------- Dummy -----------------------------------------
139 
#define  SPI_MasterInit() ;
114 
#define  SPI_MasterInit() ;
140 
#define  SPI_StartTransmitPacket() ;
 115 
#define  SPI_StartTransmitPacket() ;
141 
#define  UpdateSPI_Buffer() ;
 116 
#define  UpdateSPI_Buffer() ;
142 
#define  SPI_TransmitByte() ;
 117 
#define  SPI_TransmitByte() ;
143 
#endif
 118 
#endif
144 
 
 119 
 
145 
 
 120 
 
146 
#endif
 121 
#endif
147 
 
 122