WebSVN - FlightCtrl - Diff - Rev 1472 and 1508 - /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
#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;
        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 1472	Rev 1508
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	#define SPI_FCCMD_ACCU 16
57		58
58	struct str_ToNaviCtrl	59	struct str_ToNaviCtrl
59	{	60	{
60	unsigned char Sync1, Sync2;	61	unsigned char Sync1, Sync2;
61	unsigned char Command;	62	unsigned char Command;
62	signed int IntegralNick;	63	signed int IntegralNick;
63	signed int IntegralRoll;	64	signed int IntegralRoll;
64	signed int AccNick;	65	signed int AccNick;
65	signed int AccRoll;	66	signed int AccRoll;
66	signed int GyroCompass;	67	signed int GyroCompass;
67	signed int GyroNick;	68	signed int GyroNick;
68	signed int GyroRoll;	69	signed int GyroRoll;
69	signed int GyroGier;	70	signed int GyroGier;
70	union	71	union
71	{	72	{
72	unsigned char Byte[12];	73	unsigned char Byte[12];
73	char sByte[12];	74	char sByte[12];
74	unsigned int Int[6];	75	unsigned int Int[6];
75	int sInt[6];	76	int sInt[6];
76	unsigned long Long[3];	77	unsigned long Long[3];
77	long sLong[3];	78	long sLong[3];
78	float Float[3];	79	float Float[3];
79	} Param;	80	} Param;
80	unsigned char Chksum;	81	unsigned char Chksum;
81	};	82	};
82		83
83	#define SPI_NCCMD_KALMAN 103	84	#define SPI_NCCMD_KALMAN 103
84	#define SPI_NCCMD_VERSION 104	85	#define SPI_NCCMD_VERSION 104
85	#define SPI_NCCMD_GPSINFO 105	86	#define SPI_NCCMD_GPSINFO 105
86		87
87	struct str_FromNaviCtrl	88	struct str_FromNaviCtrl
88	{	89	{
89	unsigned char Command;	90	unsigned char Command;
90	signed int GPS_Nick;	91	signed int GPS_Nick;
91	signed int GPS_Roll;	92	signed int GPS_Roll;
92	signed int GPS_Gier;	93	signed int GPS_Gier;
93	signed int CompassValue;	94	signed int CompassValue;
94	signed int Status;	95	signed int Status;
95	unsigned int BeepTime;	96	unsigned int BeepTime;
96	union	97	union
97	{	98	{
98	unsigned char Byte[12];	99	unsigned char Byte[12];
99	char sByte[12];	100	char sByte[12];
100	unsigned int Int[6];	101	unsigned int Int[6];
101	int sInt[6];	102	int sInt[6];
102	unsigned long Long[3];	103	unsigned long Long[3];
103	long sLong[3];	104	long sLong[3];
104	float Float[3];	105	float Float[3];
105	} Param;	106	} Param;
106	unsigned char Chksum;	107	unsigned char Chksum;
107	};	108	};
108		109
109	struct str_FromNaviCtrl_Value	110	struct str_FromNaviCtrl_Value
110	{	111	{
111	signed char Kalman_K;	112	signed char Kalman_K;
112	signed char Kalman_MaxDrift;	113	signed char Kalman_MaxDrift;
113	signed char Kalman_MaxFusion;	114	signed char Kalman_MaxFusion;
114	unsigned char SerialDataOkay;	115	unsigned char SerialDataOkay;
115	signed char GpsZ;	116	signed char GpsZ;
116	};	117	};
117		118
118	struct str_SPI_VersionInfo	119	struct str_SPI_VersionInfo
119	{	120	{
120	unsigned char Major;	121	unsigned char Major;
121	unsigned char Minor;	122	unsigned char Minor;
122	unsigned char Patch;	123	unsigned char Patch;
123	unsigned char Compatible;	124	unsigned char Compatible;
124	unsigned char Hardware;	125	unsigned char Hardware;
125	};	126	};
126		127
127	// Satfix types for GPSData.SatFix	128	// Satfix types for GPSData.SatFix
128	#define SATFIX_NONE 0x00	129	#define SATFIX_NONE 0x00
129	#define SATFIX_DEADRECKOING 0x01	130	#define SATFIX_DEADRECKOING 0x01
130	#define SATFIX_2D 0x02	131	#define SATFIX_2D 0x02
131	#define SATFIX_3D 0x03	132	#define SATFIX_3D 0x03
132	#define SATFIX_GPS_DEADRECKOING 0x04	133	#define SATFIX_GPS_DEADRECKOING 0x04
133	#define SATFIX_TIMEONLY 0x05	134	#define SATFIX_TIMEONLY 0x05
134	// Flags for interpretation of the GPSData.Flags	135	// Flags for interpretation of the GPSData.Flags
135	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)	136	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)
136	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)	137	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)
137	#define FLAG_WKNSET 0x04 // (is Week Number valid)	138	#define FLAG_WKNSET 0x04 // (is Week Number valid)
138	#define FLAG_TOWSET 0x08 // (is Time of Week valid)	139	#define FLAG_TOWSET 0x08 // (is Time of Week valid)
139		140
140	struct str_GPSInfo	141	struct str_GPSInfo
141	{	142	{
142	unsigned char Flags; // Status Flags	143	unsigned char Flags; // Status Flags
143	unsigned char NumOfSats; // number of satelites	144	unsigned char NumOfSats; // number of satelites
144	unsigned char SatFix; // type of satfix	145	unsigned char SatFix; // type of satfix
145	unsigned int HomeDistance; // distance to Home in dm	146	unsigned int HomeDistance; // distance to Home in dm
146	int HomeBearing; // bearing to home in deg	147	int HomeBearing; // bearing to home in deg
147	};	148	};
148		149
149		150
150	#ifdef USE_SPI_COMMUNICATION	151	#ifdef USE_SPI_COMMUNICATION
151	extern struct str_GPSInfo GPSInfo;	152	extern struct str_GPSInfo GPSInfo;
152	extern struct str_SPI_VersionInfo NC_Version;	153	extern struct str_SPI_VersionInfo NC_Version;
153	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;	154	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
154	extern struct str_ToNaviCtrl ToNaviCtrl;	155	extern struct str_ToNaviCtrl ToNaviCtrl;
155	extern struct str_FromNaviCtrl FromNaviCtrl;	156	extern struct str_FromNaviCtrl FromNaviCtrl;
156	extern unsigned char SPI_CommandCounter,NaviDataOkay;	157	extern unsigned char SPI_CommandCounter,NaviDataOkay;
157		158
158		159
159	extern void SPI_MasterInit(void);	160	extern void SPI_MasterInit(void);
160	extern void SPI_StartTransmitPacket(void);	161	extern void SPI_StartTransmitPacket(void);
161	extern void UpdateSPI_Buffer(void);	162	extern void UpdateSPI_Buffer(void);
162	extern void SPI_TransmitByte(void);	163	extern void SPI_TransmitByte(void);
163	#else	164	#else
164		165
165		166
166	// -------------------------------- Dummy -----------------------------------------	167	// -------------------------------- Dummy -----------------------------------------
167	#define SPI_MasterInit() ;	168	#define SPI_MasterInit() ;
168	#define SPI_StartTransmitPacket() ;	169	#define SPI_StartTransmitPacket() ;
169	#define UpdateSPI_Buffer() ;	170	#define UpdateSPI_Buffer() ;
170	#define SPI_TransmitByte() ;	171	#define SPI_TransmitByte() ;
171	#endif	172	#endif
172		173
173		174
174	#endif	175	#endif
175		176

Subversion Repositories FlightCtrl

(root)/branches/V0.84a_ACC-HH_HR_MartinR/spi.h @ 2076 - Rev 1472 → 1508