WebSVN - FlightCtrl - Diff - Rev 1448 and 1451 - /branches/V0.80f_ACC-HH


// ######################## 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_FCCMD_USER                  10
#define SPI_FCCMD_STICK                 11
#define SPI_FCCMD_MISC                  12
#define SPI_FCCMD_PARAMETER1    13
#define SPI_FCCMD_VERSION               14
#define SPI_FCCMD_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_NCCMD_KALMAN                103
#define SPI_NCCMD_VERSION               104
#define SPI_NCCMD_GPSINFO               105
 
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;
  unsigned char Hardware;
};
 
// Satfix types for GPSData.SatFix
#define SATFIX_NONE                             0x00
#define SATFIX_DEADRECKOING             0x01
#define SATFIX_2D                               0x02
#define SATFIX_3D                               0x03
#define SATFIX_GPS_DEADRECKOING 0x04
#define SATFIX_TIMEONLY                 0x05
// Flags for interpretation of the GPSData.Flags
#define FLAG_GPSFIXOK                   0x01 // (i.e. within DOP & ACC Masks)
#define FLAG_DIFFSOLN                   0x02 // (is DGPS used)
#define FLAG_WKNSET                             0x04 // (is Week Number valid)
#define FLAG_TOWSET                             0x08 // (is Time of Week valid)
 
struct str_GPSInfo
{
        uint8_t         Flags;                  // Status Flags
        uint8_t         NumOfSats;              // number of satelites
        uint8_t         SatFix;                 // type of satfix
};
 
 
#ifdef USE_SPI_COMMUNICATION
extern struct str_GPSInfo GPSInfo;
extern struct str_SPI_VersionInfo NC_Version;
extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
extern struct str_ToNaviCtrl   ToNaviCtrl;
extern struct str_FromNaviCtrl FromNaviCtrl;
extern unsigned char SPI_CommandCounter,NaviDataOkay;
 
 
 
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 1448	Rev 1451
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	//-----------------------------------------	9	//-----------------------------------------
10	#define DDR_SPI DDRB	10	#define DDR_SPI DDRB
11	#define DD_SS PB4	11	#define DD_SS PB4
12	#define DD_SCK PB7	12	#define DD_SCK PB7
13	#define DD_MOSI PB5	13	#define DD_MOSI PB5
14	#define DD_MISO PB6	14	#define DD_MISO PB6
15		15
16	// for compatibility reasons gcc3.x <-> gcc4.x	16	// for compatibility reasons gcc3.x <-> gcc4.x
17	#ifndef SPCR	17	#ifndef SPCR
18	#define SPCR SPCR0	18	#define SPCR SPCR0
19	#endif	19	#endif
20	#ifndef SPE	20	#ifndef SPE
21	#define SPE SPE0	21	#define SPE SPE0
22	#endif	22	#endif
23	#ifndef MSTR	23	#ifndef MSTR
24	#define MSTR MSTR0	24	#define MSTR MSTR0
25	#endif	25	#endif
26	#ifndef SPR1	26	#ifndef SPR1
27	#define SPR1 SPR01	27	#define SPR1 SPR01
28	#endif	28	#endif
29	#ifndef SPR0	29	#ifndef SPR0
30	#define SPR0 SPR00	30	#define SPR0 SPR00
31	#endif	31	#endif
32	#ifndef SPIE	32	#ifndef SPIE
33	#define SPIE SPIE0	33	#define SPIE SPIE0
34	#endif	34	#endif
35	#ifndef SPDR	35	#ifndef SPDR
36	#define SPDR SPDR0	36	#define SPDR SPDR0
37	#endif	37	#endif
38	#ifndef SPIF	38	#ifndef SPIF
39	#define SPIF SPIF0	39	#define SPIF SPIF0
40	#endif	40	#endif
41	#ifndef SPSR	41	#ifndef SPSR
42	#define SPSR SPSR0	42	#define SPSR SPSR0
43	#endif	43	#endif
44	// -------------------------	44	// -------------------------
45		45
46	#define SLAVE_SELECT_DDR_PORT DDRC	46	#define SLAVE_SELECT_DDR_PORT DDRC
47	#define SLAVE_SELECT_PORT PORTC	47	#define SLAVE_SELECT_PORT PORTC
48	#define SPI_SLAVE_SELECT PC5	48	#define SPI_SLAVE_SELECT PC5
49		49
50		50
51	#define SPI_FCCMD_USER 10	51	#define SPI_FCCMD_USER 10
52	#define SPI_FCCMD_STICK 11	52	#define SPI_FCCMD_STICK 11
53	#define SPI_FCCMD_MISC 12	53	#define SPI_FCCMD_MISC 12
54	#define SPI_FCCMD_PARAMETER1 13	54	#define SPI_FCCMD_PARAMETER1 13
55	#define SPI_FCCMD_VERSION 14	55	#define SPI_FCCMD_VERSION 14
56	#define SPI_FCCMD_SERVOS 15	56	#define SPI_FCCMD_SERVOS 15
57		57
58	struct str_ToNaviCtrl	58	struct str_ToNaviCtrl
59	{	59	{
60	unsigned char Sync1, Sync2;	60	unsigned char Sync1, Sync2;
61	unsigned char Command;	61	unsigned char Command;
62	signed int IntegralNick;	62	signed int IntegralNick;
63	signed int IntegralRoll;	63	signed int IntegralRoll;
64	signed int AccNick;	64	signed int AccNick;
65	signed int AccRoll;	65	signed int AccRoll;
66	signed int GyroCompass;	66	signed int GyroCompass;
67	signed int GyroNick;	67	signed int GyroNick;
68	signed int GyroRoll;	68	signed int GyroRoll;
69	signed int GyroGier;	69	signed int GyroGier;
70	union	70	union
71	{	71	{
72	char sByte[12];	72	char sByte[12];
73	unsigned char Byte[12];	73	unsigned char Byte[12];
74	int Int[6];	74	int Int[6];
75	long Long[3];	75	long Long[3];
76	float Float[3];	76	float Float[3];
77	} Param;	77	} Param;
78	unsigned char Chksum;	78	unsigned char Chksum;
79	};	79	};
80		80
81	#define SPI_NCCMD_KALMAN 103	81	#define SPI_NCCMD_KALMAN 103
82	#define SPI_NCCMD_VERSION 104	82	#define SPI_NCCMD_VERSION 104
-		83	#define SPI_NCCMD_GPSINFO 105
83		84
84	struct str_FromNaviCtrl	85	struct str_FromNaviCtrl
85	{	86	{
86	unsigned char Command;	87	unsigned char Command;
87	signed int GPS_Nick;	88	signed int GPS_Nick;
88	signed int GPS_Roll;	89	signed int GPS_Roll;
89	signed int GPS_Gier;	90	signed int GPS_Gier;
90	signed int CompassValue;	91	signed int CompassValue;
91	signed int Status;	92	signed int Status;
92	unsigned int BeepTime;	93	unsigned int BeepTime;
93	union	94	union
94	{	95	{
95	char sByte[12];	96	char sByte[12];
96	unsigned char Byte[12];	97	unsigned char Byte[12];
97	int Int[6];	98	int Int[6];
98	long Long[3];	99	long Long[3];
99	float Float[3];	100	float Float[3];
100	} Param;	101	} Param;
101	unsigned char Chksum;	102	unsigned char Chksum;
102	};	103	};
103		104
104	struct str_FromNaviCtrl_Value	105	struct str_FromNaviCtrl_Value
105	{	106	{
106	signed char Kalman_K;	107	signed char Kalman_K;
107	signed char Kalman_MaxDrift;	108	signed char Kalman_MaxDrift;
108	signed char Kalman_MaxFusion;	109	signed char Kalman_MaxFusion;
109	unsigned char SerialDataOkay;	110	unsigned char SerialDataOkay;
110	signed char GpsZ;	111	signed char GpsZ;
111	};	112	};
112		113
113	struct str_SPI_VersionInfo	114	struct str_SPI_VersionInfo
114	{	115	{
115	unsigned char Major;	116	unsigned char Major;
116	unsigned char Minor;	117	unsigned char Minor;
117	unsigned char Patch;	118	unsigned char Patch;
118	unsigned char Compatible;	119	unsigned char Compatible;
119	unsigned char Hardware;	120	unsigned char Hardware;
120	};	121	};
-		122
-		123	// Satfix types for GPSData.SatFix
-		124	#define SATFIX_NONE 0x00
-		125	#define SATFIX_DEADRECKOING 0x01
-		126	#define SATFIX_2D 0x02
-		127	#define SATFIX_3D 0x03
121		128	#define SATFIX_GPS_DEADRECKOING 0x04
-		129	#define SATFIX_TIMEONLY 0x05
-		130	// Flags for interpretation of the GPSData.Flags
-		131	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)
-		132	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)
-		133	#define FLAG_WKNSET 0x04 // (is Week Number valid)
-		134	#define FLAG_TOWSET 0x08 // (is Time of Week valid)
-		135
-		136	struct str_GPSInfo
-		137	{
-		138	uint8_t Flags; // Status Flags
-		139	uint8_t NumOfSats; // number of satelites
-		140	uint8_t SatFix; // type of satfix
-		141	};
-		142
-		143
122	#ifdef USE_SPI_COMMUNICATION	144	#ifdef USE_SPI_COMMUNICATION
123		145	extern struct str_GPSInfo GPSInfo;
124	extern struct str_SPI_VersionInfo NC_Version;	146	extern struct str_SPI_VersionInfo NC_Version;
125	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;	147	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
126	extern struct str_ToNaviCtrl ToNaviCtrl;	148	extern struct str_ToNaviCtrl ToNaviCtrl;
127	extern struct str_FromNaviCtrl FromNaviCtrl;	149	extern struct str_FromNaviCtrl FromNaviCtrl;
128	extern unsigned char SPI_CommandCounter,NaviDataOkay;	150	extern unsigned char SPI_CommandCounter,NaviDataOkay;
129		-
130	//#define SPI_CMD_VALUE 0x03	151
131		152
132	extern void SPI_MasterInit(void);	153	extern void SPI_MasterInit(void);
133	extern void SPI_StartTransmitPacket(void);	154	extern void SPI_StartTransmitPacket(void);
134	extern void UpdateSPI_Buffer(void);	155	extern void UpdateSPI_Buffer(void);
135	extern void SPI_TransmitByte(void);	156	extern void SPI_TransmitByte(void);
136	#else	157	#else
137		158
138		159
139	// -------------------------------- Dummy -----------------------------------------	160	// -------------------------------- Dummy -----------------------------------------
140	#define SPI_MasterInit() ;	161	#define SPI_MasterInit() ;
141	#define SPI_StartTransmitPacket() ;	162	#define SPI_StartTransmitPacket() ;
142	#define UpdateSPI_Buffer() ;	163	#define UpdateSPI_Buffer() ;
143	#define SPI_TransmitByte() ;	164	#define SPI_TransmitByte() ;
144	#endif	165	#endif
145		166
146		167
147	#endif	168	#endif
148		169

Subversion Repositories FlightCtrl

(root)/branches/V0.80f_ACC-HH_MartinR/spi.h @ 2026 - Rev 1448 → 1451