WebSVN - FlightCtrl - Diff - Rev 989 and 991 - /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
#define SPI_CMD_VERSION     14
 
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 int BeepTime;
  union  
  { char Byte[12];
    int  Int[6];
    long Long[3];
    float Float[3];
  } Param;
  unsigned char Chksum;
};
 
struct str_FromNaviCtrl_Value
{
 signed int OsdBar;
 signed int Distance;
};
 
#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;
 
//#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 989	Rev 991
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	#define SPI_CMD_PARAMETER1 13
-		57	#define SPI_CMD_VERSION 14
-		58
57	struct str_ToNaviCtrl	59	struct str_ToNaviCtrl
58	{	60	{
59	unsigned char Sync1, Sync2;	61	unsigned char Sync1, Sync2;
60	unsigned char Command;	62	unsigned char Command;
61	signed int IntegralNick;	63	signed int IntegralNick;
62	signed int IntegralRoll;	64	signed int IntegralRoll;
63	signed int AccNick;	65	signed int AccNick;
64	signed int AccRoll;	66	signed int AccRoll;
65	signed int GyroCompass;	67	signed int GyroCompass;
66	signed int GyroNick;	68	signed int GyroNick;
67	signed int GyroRoll;	69	signed int GyroRoll;
68	signed int GyroGier;	70	signed int GyroGier;
69	union	71	union
70	{ char Byte[12];	72	{ char Byte[12];
71	int Int[6];	73	int Int[6];
72	long Long[3];	74	long Long[3];
73	float Float[3];	75	float Float[3];
74	} Param;	76	} Param;
75	unsigned char Chksum;	77	unsigned char Chksum;
76	};	78	};
77		79
78	#define SPI_CMD_OSD_DATA 100	80	#define SPI_CMD_OSD_DATA 100
79	#define SPI_CMD_GPS_POS 101	81	#define SPI_CMD_GPS_POS 101
80	#define SPI_CMD_GPS_TARGET 102	82	#define SPI_CMD_GPS_TARGET 102
81	struct str_FromNaviCtrl	83	struct str_FromNaviCtrl
82	{	84	{
83	unsigned char Command;	85	unsigned char Command;
84	signed int GPS_Nick;	86	signed int GPS_Nick;
85	signed int GPS_Roll;	87	signed int GPS_Roll;
86	signed int GPS_Gier;	88	signed int GPS_Gier;
87	signed int CompassValue;	89	signed int CompassValue;
88	signed int Status;	90	signed int Status;
89	unsigned int BeepTime;	91	unsigned int BeepTime;
90	union	92	union
91	{ char Byte[12];	93	{ char Byte[12];
92	int Int[6];	94	int Int[6];
93	long Long[3];	95	long Long[3];
94	float Float[3];	96	float Float[3];
95	} Param;	97	} Param;
96	unsigned char Chksum;	98	unsigned char Chksum;
97	};	99	};
98		100
99	struct str_FromNaviCtrl_Value	101	struct str_FromNaviCtrl_Value
100	{	102	{
101	signed int OsdBar;	103	signed int OsdBar;
102	signed int Distance;	104	signed int Distance;
103	};	105	};
104		106
105	#ifdef USE_SPI_COMMUNICATION	107	#ifdef USE_SPI_COMMUNICATION
106		108
107	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;	109	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
108	extern struct str_ToNaviCtrl ToNaviCtrl;	110	extern struct str_ToNaviCtrl ToNaviCtrl;
109	extern struct str_FromNaviCtrl FromNaviCtrl;	111	extern struct str_FromNaviCtrl FromNaviCtrl;
110	extern unsigned char SPI_CommandCounter;	112	extern unsigned char SPI_CommandCounter;
111		113
112	//#define SPI_CMD_VALUE 0x03	114	//#define SPI_CMD_VALUE 0x03
113		115
114	extern void SPI_MasterInit(void);	116	extern void SPI_MasterInit(void);
115	extern void SPI_StartTransmitPacket(void);	117	extern void SPI_StartTransmitPacket(void);
116	extern void UpdateSPI_Buffer(void);	118	extern void UpdateSPI_Buffer(void);
117	extern void SPI_TransmitByte(void);	119	extern void SPI_TransmitByte(void);
118	#else	120	#else
119		121
120		122
121	// -------------------------------- Dummy -----------------------------------------	123	// -------------------------------- Dummy -----------------------------------------
122	#define SPI_MasterInit() ;	124	#define SPI_MasterInit() ;
123	#define SPI_StartTransmitPacket() ;	125	#define SPI_StartTransmitPacket() ;
124	#define UpdateSPI_Buffer() ;	126	#define UpdateSPI_Buffer() ;
125	#define SPI_TransmitByte() ;	127	#define SPI_TransmitByte() ;
126	#endif	128	#endif
127		129
128		130
129	#endif	131	#endif
130		132

Subversion Repositories FlightCtrl

(root)/branches/V0.80g_ACC-HH_MartinR_HR/spi.h @ 2633 - Rev 989 → 991