WebSVN - FlightCtrl - Diff - Rev 1840 and 1852 - /branches/V0.84a-test1/spi.h


// ######################## SPI - FlightCtrl ###################
#ifndef _SPI_H
#define _SPI_H
 
#include <util/delay.h>
#include "vector.h"
 
#define USE_SPI_COMMUNICATION
 
//-----------------------------------------
#define DDR_SPI DDRB
#define SLAVE_SELECT_DDR_PORT   DDRC
#define SLAVE_SELECT_PORT       PORTC
 
#if defined(__AVR_ATmega1284P__)
#define DD_SS                           PORTB4
#define DD_SCK                          PORTB7
#define DD_MOSI                         PORTB5
#define DD_MISO                         PORTB6
#define SPI_SLAVE_SELECT        PORTC5
#else
#define DD_SS                           PB4
#define DD_SCK                          PB7
#define DD_MOSI                         PB5
#define DD_MISO                         PB6
#define SPI_SLAVE_SELECT        PC5
#endif
 
// 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 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
#define SPI_FCCMD_ACCU                  16
 
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;
        unsigned int FCStatus;
        union
        {
                unsigned char Byte[12];
                char sByte[12];
                unsigned int Int[6];
                int  sInt[6];
                unsigned long Long[3];
                long sLong[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  MagVecX;
        signed int  MagVecY;
        signed int  MagVecZ;
        signed int  Status;
        unsigned int BeepTime;
        union
        {
                unsigned char Byte[12];
                char sByte[12];
                unsigned int Int[6];
                int  sInt[6];
                unsigned long Long[3];
                long sLong[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
{
        unsigned char   Flags;                  // Status Flags
        unsigned char   NumOfSats;              // number of satelites
        unsigned char   SatFix;                 // type of satfix
        unsigned char   Speed;                  // m/sek
        unsigned int    HomeDistance;   // distance to Home in dm
        int                             HomeBearing;    // bearing to home in deg
};
 
 
#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 signed char FromNC_Rotate_C, FromNC_Rotate_S;
extern unsigned char NC_ErrorCode;
extern void SPI_MasterInit(void);
extern void SPI_StartTransmitPacket(void);
extern void UpdateSPI_Buffer(void);
extern void SPI_TransmitByte(void);
extern signed int POI_KameraNick;
extern vector16_t MagVec;
#else
 
 
// -------------------------------- Dummy -----------------------------------------
#define  SPI_MasterInit() ;
#define  SPI_StartTransmitPacket() ;
#define  UpdateSPI_Buffer() ;
#define  SPI_TransmitByte() ;
#endif
 
 
#endif
 

Rev 1840	Rev 1852
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	#include "vector.h"
6		7
7	#define USE_SPI_COMMUNICATION	8	#define USE_SPI_COMMUNICATION
8		9
9	//-----------------------------------------	10	//-----------------------------------------
10	#define DDR_SPI DDRB	11	#define DDR_SPI DDRB
11	#define SLAVE_SELECT_DDR_PORT DDRC	12	#define SLAVE_SELECT_DDR_PORT DDRC
12	#define SLAVE_SELECT_PORT PORTC	13	#define SLAVE_SELECT_PORT PORTC
13		14
14	#if defined(__AVR_ATmega1284P__)	15	#if defined(__AVR_ATmega1284P__)
15	#define DD_SS PORTB4	16	#define DD_SS PORTB4
16	#define DD_SCK PORTB7	17	#define DD_SCK PORTB7
17	#define DD_MOSI PORTB5	18	#define DD_MOSI PORTB5
18	#define DD_MISO PORTB6	19	#define DD_MISO PORTB6
19	#define SPI_SLAVE_SELECT PORTC5	20	#define SPI_SLAVE_SELECT PORTC5
20	#else	21	#else
21	#define DD_SS PB4	22	#define DD_SS PB4
22	#define DD_SCK PB7	23	#define DD_SCK PB7
23	#define DD_MOSI PB5	24	#define DD_MOSI PB5
24	#define DD_MISO PB6	25	#define DD_MISO PB6
25	#define SPI_SLAVE_SELECT PC5	26	#define SPI_SLAVE_SELECT PC5
26	#endif	27	#endif
27		28
28	// for compatibility reasons gcc3.x <-> gcc4.x	29	// for compatibility reasons gcc3.x <-> gcc4.x
29	#ifndef SPCR	30	#ifndef SPCR
30	#define SPCR SPCR0	31	#define SPCR SPCR0
31	#endif	32	#endif
32	#ifndef SPE	33	#ifndef SPE
33	#define SPE SPE0	34	#define SPE SPE0
34	#endif	35	#endif
35	#ifndef MSTR	36	#ifndef MSTR
36	#define MSTR MSTR0	37	#define MSTR MSTR0
37	#endif	38	#endif
38	#ifndef SPR1	39	#ifndef SPR1
39	#define SPR1 SPR01	40	#define SPR1 SPR01
40	#endif	41	#endif
41	#ifndef SPR0	42	#ifndef SPR0
42	#define SPR0 SPR00	43	#define SPR0 SPR00
43	#endif	44	#endif
44	#ifndef SPIE	45	#ifndef SPIE
45	#define SPIE SPIE0	46	#define SPIE SPIE0
46	#endif	47	#endif
47	#ifndef SPDR	48	#ifndef SPDR
48	#define SPDR SPDR0	49	#define SPDR SPDR0
49	#endif	50	#endif
50	#ifndef SPIF	51	#ifndef SPIF
51	#define SPIF SPIF0	52	#define SPIF SPIF0
52	#endif	53	#endif
53	#ifndef SPSR	54	#ifndef SPSR
54	#define SPSR SPSR0	55	#define SPSR SPSR0
55	#endif	56	#endif
56	// -------------------------	57	// -------------------------
57		58
58	#define SPI_FCCMD_USER 10	59	#define SPI_FCCMD_USER 10
59	#define SPI_FCCMD_STICK 11	60	#define SPI_FCCMD_STICK 11
60	#define SPI_FCCMD_MISC 12	61	#define SPI_FCCMD_MISC 12
61	#define SPI_FCCMD_PARAMETER1 13	62	#define SPI_FCCMD_PARAMETER1 13
62	#define SPI_FCCMD_VERSION 14	63	#define SPI_FCCMD_VERSION 14
63	#define SPI_FCCMD_SERVOS 15	64	#define SPI_FCCMD_SERVOS 15
64	#define SPI_FCCMD_ACCU 16	65	#define SPI_FCCMD_ACCU 16
65		66
66	struct str_ToNaviCtrl	67	struct str_ToNaviCtrl
67	{	68	{
68	unsigned char Sync1, Sync2;	69	unsigned char Sync1, Sync2;
69	unsigned char Command;	70	unsigned char Command;
70	signed int IntegralNick;	71	signed int IntegralNick;
71	signed int IntegralRoll;	72	signed int IntegralRoll;
72	signed int AccNick;	73	signed int AccNick;
73	signed int AccRoll;	74	signed int AccRoll;
74	signed int GyroCompass;	75	signed int GyroCompass;
75	signed int GyroNick;	76	signed int GyroNick;
76	signed int GyroRoll;	77	signed int GyroRoll;
77	signed int GyroGier;	78	signed int GyroGier;
-		79	unsigned int FCStatus;
78	union	80	union
79	{	81	{
80	unsigned char Byte[12];	82	unsigned char Byte[12];
81	char sByte[12];	83	char sByte[12];
82	unsigned int Int[6];	84	unsigned int Int[6];
83	int sInt[6];	85	int sInt[6];
84	unsigned long Long[3];	86	unsigned long Long[3];
85	long sLong[3];	87	long sLong[3];
86	float Float[3];	88	float Float[3];
87	} Param;	89	} Param;
88	unsigned char Chksum;	90	unsigned char Chksum;
89	};	91	};
90		92
91	#define SPI_NCCMD_KALMAN 103	93	#define SPI_NCCMD_KALMAN 103
92	#define SPI_NCCMD_VERSION 104	94	#define SPI_NCCMD_VERSION 104
93	#define SPI_NCCMD_GPSINFO 105	95	#define SPI_NCCMD_GPSINFO 105
94		96
95	struct str_FromNaviCtrl	97	struct str_FromNaviCtrl
96	{	98	{
97	unsigned char Command;	99	unsigned char Command;
98	signed int GPS_Nick;	100	signed int GPS_Nick;
99	signed int GPS_Roll;	101	signed int GPS_Roll;
100	signed int GPS_Gier;	102	signed int GPS_Gier;
101	signed int CompassValue;	103	signed int CompassValue;
-		104	signed int MagVecX;
-		105	signed int MagVecY;
-		106	signed int MagVecZ;
102	signed int Status;	107	signed int Status;
103	unsigned int BeepTime;	108	unsigned int BeepTime;
104	union	109	union
105	{	110	{
106	unsigned char Byte[12];	111	unsigned char Byte[12];
107	char sByte[12];	112	char sByte[12];
108	unsigned int Int[6];	113	unsigned int Int[6];
109	int sInt[6];	114	int sInt[6];
110	unsigned long Long[3];	115	unsigned long Long[3];
111	long sLong[3];	116	long sLong[3];
112	float Float[3];	117	float Float[3];
113	} Param;	118	} Param;
114	unsigned char Chksum;	119	unsigned char Chksum;
115	};	120	};
116		121
117	struct str_FromNaviCtrl_Value	122	struct str_FromNaviCtrl_Value
118	{	123	{
119	signed char Kalman_K;	124	signed char Kalman_K;
120	signed char Kalman_MaxDrift;	125	signed char Kalman_MaxDrift;
121	signed char Kalman_MaxFusion;	126	signed char Kalman_MaxFusion;
122	unsigned char SerialDataOkay;	127	unsigned char SerialDataOkay;
123	signed char GpsZ;	128	signed char GpsZ;
124	};	129	};
125		130
126	struct str_SPI_VersionInfo	131	struct str_SPI_VersionInfo
127	{	132	{
128	unsigned char Major;	133	unsigned char Major;
129	unsigned char Minor;	134	unsigned char Minor;
130	unsigned char Patch;	135	unsigned char Patch;
131	unsigned char Compatible;	136	unsigned char Compatible;
132	unsigned char Hardware;	137	unsigned char Hardware;
133	};	138	};
134		139
135	// Satfix types for GPSData.SatFix	140	// Satfix types for GPSData.SatFix
136	#define SATFIX_NONE 0x00	141	#define SATFIX_NONE 0x00
137	#define SATFIX_DEADRECKOING 0x01	142	#define SATFIX_DEADRECKOING 0x01
138	#define SATFIX_2D 0x02	143	#define SATFIX_2D 0x02
139	#define SATFIX_3D 0x03	144	#define SATFIX_3D 0x03
140	#define SATFIX_GPS_DEADRECKOING 0x04	145	#define SATFIX_GPS_DEADRECKOING 0x04
141	#define SATFIX_TIMEONLY 0x05	146	#define SATFIX_TIMEONLY 0x05
142	// Flags for interpretation of the GPSData.Flags	147	// Flags for interpretation of the GPSData.Flags
143	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)	148	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)
144	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)	149	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)
145	#define FLAG_WKNSET 0x04 // (is Week Number valid)	150	#define FLAG_WKNSET 0x04 // (is Week Number valid)
146	#define FLAG_TOWSET 0x08 // (is Time of Week valid)	151	#define FLAG_TOWSET 0x08 // (is Time of Week valid)
147		152
148	struct str_GPSInfo	153	struct str_GPSInfo
149	{	154	{
150	unsigned char Flags; // Status Flags	155	unsigned char Flags; // Status Flags
151	unsigned char NumOfSats; // number of satelites	156	unsigned char NumOfSats; // number of satelites
152	unsigned char SatFix; // type of satfix	157	unsigned char SatFix; // type of satfix
153	unsigned char Speed; // m/sek	158	unsigned char Speed; // m/sek
154	unsigned int HomeDistance; // distance to Home in dm	159	unsigned int HomeDistance; // distance to Home in dm
155	int HomeBearing; // bearing to home in deg	160	int HomeBearing; // bearing to home in deg
156	};	161	};
157		162
158		163
159	#ifdef USE_SPI_COMMUNICATION	164	#ifdef USE_SPI_COMMUNICATION
160	extern struct str_GPSInfo GPSInfo;	165	extern struct str_GPSInfo GPSInfo;
161	extern struct str_SPI_VersionInfo NC_Version;	166	extern struct str_SPI_VersionInfo NC_Version;
162	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;	167	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
163	extern struct str_ToNaviCtrl ToNaviCtrl;	168	extern struct str_ToNaviCtrl ToNaviCtrl;
164	extern struct str_FromNaviCtrl FromNaviCtrl;	169	extern struct str_FromNaviCtrl FromNaviCtrl;
165	extern unsigned char SPI_CommandCounter,NaviDataOkay;	170	extern unsigned char SPI_CommandCounter,NaviDataOkay;
166	extern signed char FromNC_Rotate_C, FromNC_Rotate_S;	171	extern signed char FromNC_Rotate_C, FromNC_Rotate_S;
167	extern unsigned char NC_ErrorCode;	172	extern unsigned char NC_ErrorCode;
168	extern void SPI_MasterInit(void);	173	extern void SPI_MasterInit(void);
169	extern void SPI_StartTransmitPacket(void);	174	extern void SPI_StartTransmitPacket(void);
170	extern void UpdateSPI_Buffer(void);	175	extern void UpdateSPI_Buffer(void);
171	extern void SPI_TransmitByte(void);	176	extern void SPI_TransmitByte(void);
172	extern signed int POI_KameraNick;	177	extern signed int POI_KameraNick;
-		178	extern vector16_t MagVec;
173	#else	179	#else
174		180
175		181
176	// -------------------------------- Dummy -----------------------------------------	182	// -------------------------------- Dummy -----------------------------------------
177	#define SPI_MasterInit() ;	183	#define SPI_MasterInit() ;
178	#define SPI_StartTransmitPacket() ;	184	#define SPI_StartTransmitPacket() ;
179	#define UpdateSPI_Buffer() ;	185	#define UpdateSPI_Buffer() ;
180	#define SPI_TransmitByte() ;	186	#define SPI_TransmitByte() ;
181	#endif	187	#endif
182		188
183		189
184	#endif	190	#endif
185		191

Subversion Repositories FlightCtrl

(root)/branches/V0.84a-test1/spi.h @ 2586 - Rev 1840 → 1852