WebSVN - FlightCtrl - Diff - Rev 1451 and 1472 - /branches/V0.84a_ACC-HH_HR


// ######################## 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
        {
 
                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  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 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 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 1451	Rev 1472
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];	-
73	unsigned char Byte[12];	72	unsigned char Byte[12];
-		73	char sByte[12];
-		74	unsigned int Int[6];
74	int Int[6];	75	int sInt[6];
-		76	unsigned long Long[3];
75	long Long[3];	77	long sLong[3];
76	float Float[3];	78	float Float[3];
77	} Param;	79	} Param;
78	unsigned char Chksum;	80	unsigned char Chksum;
79	};	81	};
80		82
81	#define SPI_NCCMD_KALMAN 103	83	#define SPI_NCCMD_KALMAN 103
82	#define SPI_NCCMD_VERSION 104	84	#define SPI_NCCMD_VERSION 104
83	#define SPI_NCCMD_GPSINFO 105	85	#define SPI_NCCMD_GPSINFO 105
84		86
85	struct str_FromNaviCtrl	87	struct str_FromNaviCtrl
86	{	88	{
87	unsigned char Command;	89	unsigned char Command;
88	signed int GPS_Nick;	90	signed int GPS_Nick;
89	signed int GPS_Roll;	91	signed int GPS_Roll;
90	signed int GPS_Gier;	92	signed int GPS_Gier;
91	signed int CompassValue;	93	signed int CompassValue;
92	signed int Status;	94	signed int Status;
93	unsigned int BeepTime;	95	unsigned int BeepTime;
94	union	96	union
95	{	97	{
96	char sByte[12];	-
97	unsigned char Byte[12];	98	unsigned char Byte[12];
-		99	char sByte[12];
-		100	unsigned int Int[6];
98	int Int[6];	101	int sInt[6];
-		102	unsigned long Long[3];
99	long Long[3];	103	long sLong[3];
100	float Float[3];	104	float Float[3];
101	} Param;	105	} Param;
102	unsigned char Chksum;	106	unsigned char Chksum;
103	};	107	};
104		108
105	struct str_FromNaviCtrl_Value	109	struct str_FromNaviCtrl_Value
106	{	110	{
107	signed char Kalman_K;	111	signed char Kalman_K;
108	signed char Kalman_MaxDrift;	112	signed char Kalman_MaxDrift;
109	signed char Kalman_MaxFusion;	113	signed char Kalman_MaxFusion;
110	unsigned char SerialDataOkay;	114	unsigned char SerialDataOkay;
111	signed char GpsZ;	115	signed char GpsZ;
112	};	116	};
113		117
114	struct str_SPI_VersionInfo	118	struct str_SPI_VersionInfo
115	{	119	{
116	unsigned char Major;	120	unsigned char Major;
117	unsigned char Minor;	121	unsigned char Minor;
118	unsigned char Patch;	122	unsigned char Patch;
119	unsigned char Compatible;	123	unsigned char Compatible;
120	unsigned char Hardware;	124	unsigned char Hardware;
121	};	125	};
122		126
123	// Satfix types for GPSData.SatFix	127	// Satfix types for GPSData.SatFix
124	#define SATFIX_NONE 0x00	128	#define SATFIX_NONE 0x00
125	#define SATFIX_DEADRECKOING 0x01	129	#define SATFIX_DEADRECKOING 0x01
126	#define SATFIX_2D 0x02	130	#define SATFIX_2D 0x02
127	#define SATFIX_3D 0x03	131	#define SATFIX_3D 0x03
128	#define SATFIX_GPS_DEADRECKOING 0x04	132	#define SATFIX_GPS_DEADRECKOING 0x04
129	#define SATFIX_TIMEONLY 0x05	133	#define SATFIX_TIMEONLY 0x05
130	// Flags for interpretation of the GPSData.Flags	134	// Flags for interpretation of the GPSData.Flags
131	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)	135	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)
132	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)	136	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)
133	#define FLAG_WKNSET 0x04 // (is Week Number valid)	137	#define FLAG_WKNSET 0x04 // (is Week Number valid)
134	#define FLAG_TOWSET 0x08 // (is Time of Week valid)	138	#define FLAG_TOWSET 0x08 // (is Time of Week valid)
135		139
136	struct str_GPSInfo	140	struct str_GPSInfo
137	{	141	{
138	uint8_t Flags; // Status Flags	142	unsigned char Flags; // Status Flags
139	uint8_t NumOfSats; // number of satelites	143	unsigned char NumOfSats; // number of satelites
140	uint8_t SatFix; // type of satfix	144	unsigned char SatFix; // type of satfix
-		145	unsigned int HomeDistance; // distance to Home in dm
-		146	int HomeBearing; // bearing to home in deg
141	};	147	};
142		148
143		149
144	#ifdef USE_SPI_COMMUNICATION	150	#ifdef USE_SPI_COMMUNICATION
145	extern struct str_GPSInfo GPSInfo;	151	extern struct str_GPSInfo GPSInfo;
146	extern struct str_SPI_VersionInfo NC_Version;	152	extern struct str_SPI_VersionInfo NC_Version;
147	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;	153	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
148	extern struct str_ToNaviCtrl ToNaviCtrl;	154	extern struct str_ToNaviCtrl ToNaviCtrl;
149	extern struct str_FromNaviCtrl FromNaviCtrl;	155	extern struct str_FromNaviCtrl FromNaviCtrl;
150	extern unsigned char SPI_CommandCounter,NaviDataOkay;	156	extern unsigned char SPI_CommandCounter,NaviDataOkay;
151		157
152		158
153	extern void SPI_MasterInit(void);	159	extern void SPI_MasterInit(void);
154	extern void SPI_StartTransmitPacket(void);	160	extern void SPI_StartTransmitPacket(void);
155	extern void UpdateSPI_Buffer(void);	161	extern void UpdateSPI_Buffer(void);
156	extern void SPI_TransmitByte(void);	162	extern void SPI_TransmitByte(void);
157	#else	163	#else
158		164
159		165
160	// -------------------------------- Dummy -----------------------------------------	166	// -------------------------------- Dummy -----------------------------------------
161	#define SPI_MasterInit() ;	167	#define SPI_MasterInit() ;
162	#define SPI_StartTransmitPacket() ;	168	#define SPI_StartTransmitPacket() ;
163	#define UpdateSPI_Buffer() ;	169	#define UpdateSPI_Buffer() ;
164	#define SPI_TransmitByte() ;	170	#define SPI_TransmitByte() ;
165	#endif	171	#endif
166		172
167		173
168	#endif	174	#endif
169		175

Subversion Repositories FlightCtrl

(root)/branches/V0.84a_ACC-HH_HR_MartinR/spi.h @ 2076 - Rev 1451 → 1472