WebSVN - FlightCtrl - Diff - Rev 827 and 921 - /branches/V0.80g_ACC-HH_MartinR


// ######################## 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
 
 
#define SPI_CMD_USER        10
#define SPI_CMD_STICK       11
#define SPI_CMD_CAL_COMPASS 12
#define SPI_CMD_PARAMETER1  13
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 Byte[12];
   int  Int[6];
   long Long[3];
   float Float[3];
 } Param;
 unsigned char Chksum;
};
 
#define SPI_CMD_OSD_DATA         100
#define SPI_CMD_GPS_POS          101
#define SPI_CMD_GPS_TARGET   102 
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 char BeepTime;
  union  
  { char Byte[12];
    int  Int[6];
    long Long[3];
    float Float[3];
  } Param;
  unsigned char Chksum;
};
 
 
#ifdef USE_SPI_COMMUNICATION
 
extern struct str_ToNaviCtrl   ToNaviCtrl;
extern struct str_FromNaviCtrl FromNaviCtrl;
extern unsigned char SPI_CommandCounter;
 
//#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 827	Rev 921
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		52
53	#define SPI_CMD_USER 10	53	#define SPI_CMD_USER 10
54	#define SPI_CMD_STICK 11	54	#define SPI_CMD_STICK 11
55	#define SPI_CMD_CAL_COMPASS 12	55	#define SPI_CMD_CAL_COMPASS 12
-		56	#define SPI_CMD_PARAMETER1 13
56	struct str_ToNaviCtrl	57	struct str_ToNaviCtrl
57	{	58	{
58	unsigned char Sync1, Sync2;	59	unsigned char Sync1, Sync2;
59	unsigned char Command;	60	unsigned char Command;
60	signed int IntegralNick;	61	signed int IntegralNick;
61	signed int IntegralRoll;	62	signed int IntegralRoll;
62	signed int AccNick;	63	signed int AccNick;
63	signed int AccRoll;	64	signed int AccRoll;
64	signed int GyroCompass;	65	signed int GyroCompass;
65	signed int GyroNick;	66	signed int GyroNick;
66	signed int GyroRoll;	67	signed int GyroRoll;
67	signed int GyroGier;	68	signed int GyroGier;
68	union	69	union
69	{ char Byte[12];	70	{ char Byte[12];
70	int Int[6];	71	int Int[6];
71	long Long[3];	72	long Long[3];
72	float Float[3];	73	float Float[3];
73	} Param;	74	} Param;
74	unsigned char Chksum;	75	unsigned char Chksum;
75	};	76	};
76		77
77	#define SPI_CMD_OSD_DATA 100	78	#define SPI_CMD_OSD_DATA 100
78	#define SPI_CMD_GPS_POS 101	79	#define SPI_CMD_GPS_POS 101
79	#define SPI_CMD_GPS_TARGET 102	80	#define SPI_CMD_GPS_TARGET 102
80	struct str_FromNaviCtrl	81	struct str_FromNaviCtrl
81	{	82	{
82	unsigned char Command;	83	unsigned char Command;
83	signed int GPS_Nick;	84	signed int GPS_Nick;
84	signed int GPS_Roll;	85	signed int GPS_Roll;
85	signed int GPS_Gier;	86	signed int GPS_Gier;
86	signed int CompassValue;	87	signed int CompassValue;
87	signed int Status;	88	signed int Status;
88	unsigned char BeepTime;	89	unsigned char BeepTime;
89	union	90	union
90	{ char Byte[12];	91	{ char Byte[12];
91	int Int[6];	92	int Int[6];
92	long Long[3];	93	long Long[3];
93	float Float[3];	94	float Float[3];
94	} Param;	95	} Param;
95	unsigned char Chksum;	96	unsigned char Chksum;
96	};	97	};
97		98
98		99
99	#ifdef USE_SPI_COMMUNICATION	100	#ifdef USE_SPI_COMMUNICATION
100		101
101	extern struct str_ToNaviCtrl ToNaviCtrl;	102	extern struct str_ToNaviCtrl ToNaviCtrl;
102	extern struct str_FromNaviCtrl FromNaviCtrl;	103	extern struct str_FromNaviCtrl FromNaviCtrl;
-		104	extern unsigned char SPI_CommandCounter;
103		105
104	//#define SPI_CMD_VALUE 0x03	106	//#define SPI_CMD_VALUE 0x03
105		107
106	extern void SPI_MasterInit(void);	108	extern void SPI_MasterInit(void);
107	extern void SPI_StartTransmitPacket(void);	109	extern void SPI_StartTransmitPacket(void);
108	extern void UpdateSPI_Buffer(void);	110	extern void UpdateSPI_Buffer(void);
109	extern void SPI_TransmitByte(void);	111	extern void SPI_TransmitByte(void);
110	#else	112	#else
111		113
112		114
113	// -------------------------------- Dummy -----------------------------------------	115	// -------------------------------- Dummy -----------------------------------------
114	#define SPI_MasterInit() ;	116	#define SPI_MasterInit() ;
115	#define SPI_StartTransmitPacket() ;	117	#define SPI_StartTransmitPacket() ;
116	#define UpdateSPI_Buffer() ;	118	#define UpdateSPI_Buffer() ;
117	#define SPI_TransmitByte() ;	119	#define SPI_TransmitByte() ;
118	#endif	120	#endif
119		121
120		122
121	#endif	123	#endif
122		124

Subversion Repositories FlightCtrl

(root)/branches/V0.80g_ACC-HH_MartinR_HR/spi.h @ 1831 - Rev 827 → 921