WebSVN - FlightCtrl - Diff - Rev 708 and 709 - /branches/V0.84a_var


// ######################## 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
 
struct str_ToNaviCtrl_Value
{
 unsigned char Sync1, Sync2;
 unsigned char Command;
 signed int IntegralNick;
 signed int  IntegralRoll;
 char StickNick,StickRoll,  
      StickGier, StickGas;
 
 
 signed int  GyroCompass;
 
 char User1, User2, User3, User4, User5, User6, User7, User8;
 unsigned char Chksum;
};
 
 struct str_ToNaviCtrl_Version
 {
  unsigned char Sync1, Sync2;
  unsigned char Command;
  unsigned char  HVersion;
  unsigned char  NVersion;
  unsigned char  Comp;
  unsigned char  d0;
  signed int  d1;
  signed int  d2;
  signed int  d3;
  signed int  d4;
  signed int  d5;
  signed int  d6;
  signed int  d7;
  unsigned char Chksum;
 };
 
struct str_FromNaviCtrl_Value
{
 unsigned char Command;
  signed int  GPS_Nick;
  signed int  GPS_Roll;
  signed int  GPS_Gier;
  signed int  GPS_Height;
  signed int  CompassValue;
  signed int  Status;
  signed int  d0;
  signed int  d1;
  signed int  d2;
  unsigned char Chksum;
};
 
 struct str_FromNaviCtrl_Version
 {
  unsigned char Command;
  unsigned char  HVersion;
  unsigned char  NVersion;
  unsigned char  Comp;
  unsigned char  d0;
  signed int  d1;
  signed int  d2;
  signed int  d3;
  signed int  d4;
  signed int  d5;
  signed int  d6;
  signed int  d7;
  unsigned char Chksum;
 };
 
#ifdef USE_SPI_COMMUNICATION
extern struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
extern struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
 
extern struct str_ToNaviCtrl_Value   ToNaviCtrl_Value;
extern struct str_FromNaviCtrl_Value   FromNaviCtrl_Value;
 
#define SPI_CMD_VERSION 0x02
#define SPI_CMD_VALUE   0x03
 
extern void SPI_MasterInit(void);
extern void SPI_StartTransmitPacket(unsigned char command);
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 708	Rev 709
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	struct str_ToNaviCtrl_Value	52	struct str_ToNaviCtrl_Value
53	{	53	{
54	unsigned char Sync1, Sync2;	54	unsigned char Sync1, Sync2;
55	unsigned char Command;	55	unsigned char Command;
56	signed int IntegralNick;	56	signed int IntegralNick;
57	signed int IntegralRoll;	57	signed int IntegralRoll;
58	char StickNick,StickRoll,	58	char StickNick,StickRoll,
59	StickGier, StickGas,	59	StickGier, StickGas;
60	Poti1,Poti2,	-
61	Poti3,Poti4;	-
62	signed int GyroCompass;	60	signed int GyroCompass;
63	signed int d0;	-
64	signed int d1;	61	char User1, User2, User3, User4, User5, User6, User7, User8;
65	unsigned char Chksum;	62	unsigned char Chksum;
66	};	63	};
67		64
68	struct str_ToNaviCtrl_Version	65	struct str_ToNaviCtrl_Version
69	{	66	{
70	unsigned char Sync1, Sync2;	67	unsigned char Sync1, Sync2;
71	unsigned char Command;	68	unsigned char Command;
72	unsigned char HVersion;	69	unsigned char HVersion;
73	unsigned char NVersion;	70	unsigned char NVersion;
74	unsigned char Comp;	71	unsigned char Comp;
75	unsigned char d0;	72	unsigned char d0;
76	signed int d1;	73	signed int d1;
77	signed int d2;	74	signed int d2;
78	signed int d3;	75	signed int d3;
79	signed int d4;	76	signed int d4;
80	signed int d5;	77	signed int d5;
81	signed int d6;	78	signed int d6;
82	signed int d7;	79	signed int d7;
83	unsigned char Chksum;	80	unsigned char Chksum;
84	};	81	};
85		82
86	struct str_FromNaviCtrl_Value	83	struct str_FromNaviCtrl_Value
87	{	84	{
88	unsigned char Command;	85	unsigned char Command;
89	signed int GPS_Nick;	86	signed int GPS_Nick;
90	signed int GPS_Roll;	87	signed int GPS_Roll;
91	signed int GPS_Gier;	88	signed int GPS_Gier;
92	signed int GPS_Height;	89	signed int GPS_Height;
93	signed int CompassValue;	90	signed int CompassValue;
94	signed int Status;	91	signed int Status;
95	signed int d0;	92	signed int d0;
96	signed int d1;	93	signed int d1;
97	signed int d2;	94	signed int d2;
98	unsigned char Chksum;	95	unsigned char Chksum;
99	};	96	};
100		97
101	struct str_FromNaviCtrl_Version	98	struct str_FromNaviCtrl_Version
102	{	99	{
103	unsigned char Command;	100	unsigned char Command;
104	unsigned char HVersion;	101	unsigned char HVersion;
105	unsigned char NVersion;	102	unsigned char NVersion;
106	unsigned char Comp;	103	unsigned char Comp;
107	unsigned char d0;	104	unsigned char d0;
108	signed int d1;	105	signed int d1;
109	signed int d2;	106	signed int d2;
110	signed int d3;	107	signed int d3;
111	signed int d4;	108	signed int d4;
112	signed int d5;	109	signed int d5;
113	signed int d6;	110	signed int d6;
114	signed int d7;	111	signed int d7;
115	unsigned char Chksum;	112	unsigned char Chksum;
116	};	113	};
117		114
118	#ifdef USE_SPI_COMMUNICATION	115	#ifdef USE_SPI_COMMUNICATION
119	extern struct str_ToNaviCtrl_Version ToNaviCtrl_Version;	116	extern struct str_ToNaviCtrl_Version ToNaviCtrl_Version;
120	extern struct str_FromNaviCtrl_Version FromNaviCtrl_Version;	117	extern struct str_FromNaviCtrl_Version FromNaviCtrl_Version;
121		118
122	extern struct str_ToNaviCtrl_Value ToNaviCtrl_Value;	119	extern struct str_ToNaviCtrl_Value ToNaviCtrl_Value;
123	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;	120	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
124		121
125	#define SPI_CMD_VERSION 0x02	122	#define SPI_CMD_VERSION 0x02
126	#define SPI_CMD_VALUE 0x03	123	#define SPI_CMD_VALUE 0x03
127		124
128	extern void SPI_MasterInit(void);	125	extern void SPI_MasterInit(void);
129	extern void SPI_StartTransmitPacket(unsigned char command);	126	extern void SPI_StartTransmitPacket(unsigned char command);
130	extern void UpdateSPI_Buffer(void);	127	extern void UpdateSPI_Buffer(void);
131	extern void SPI_TransmitByte(void);	128	extern void SPI_TransmitByte(void);
132	#else	129	#else
133		130
134		131
135	// -------------------------------- Dummy -----------------------------------------	132	// -------------------------------- Dummy -----------------------------------------
136	#define SPI_MasterInit() ;	133	#define SPI_MasterInit() ;
137	#define SPI_StartTransmitPacket() ;	134	#define SPI_StartTransmitPacket() ;
138	#define UpdateSPI_Buffer() ;	135	#define UpdateSPI_Buffer() ;
139	#define SPI_TransmitByte() ;	136	#define SPI_TransmitByte() ;
140	#endif	137	#endif
141		138
142		139
143	#endif	140	#endif
144		141

Subversion Repositories FlightCtrl

(root)/branches/V0.84a_var_motorsmoothing/spi.h @ 2045 - Rev 708 → 709