WebSVN - FlightCtrl - Diff - Rev 991 and 992 - /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
 
 
#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
#define SPI_KALMAN           103
 
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;
 signed char Kalman_K;
 signed char Kalman_MaxDrift;
 signed char Kalman_MaxFusion;
};
 
#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 991	Rev 992
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	57	#define SPI_CMD_VERSION 14
58		58
59	struct str_ToNaviCtrl	59	struct str_ToNaviCtrl
60	{	60	{
61	unsigned char Sync1, Sync2;	61	unsigned char Sync1, Sync2;
62	unsigned char Command;	62	unsigned char Command;
63	signed int IntegralNick;	63	signed int IntegralNick;
64	signed int IntegralRoll;	64	signed int IntegralRoll;
65	signed int AccNick;	65	signed int AccNick;
66	signed int AccRoll;	66	signed int AccRoll;
67	signed int GyroCompass;	67	signed int GyroCompass;
68	signed int GyroNick;	68	signed int GyroNick;
69	signed int GyroRoll;	69	signed int GyroRoll;
70	signed int GyroGier;	70	signed int GyroGier;
71	union	71	union
72	{ char Byte[12];	72	{ char Byte[12];
73	int Int[6];	73	int Int[6];
74	long Long[3];	74	long Long[3];
75	float Float[3];	75	float Float[3];
76	} Param;	76	} Param;
77	unsigned char Chksum;	77	unsigned char Chksum;
78	};	78	};
79		79
80	#define SPI_CMD_OSD_DATA 100	80	#define SPI_CMD_OSD_DATA 100
81	#define SPI_CMD_GPS_POS 101	81	#define SPI_CMD_GPS_POS 101
82	#define SPI_CMD_GPS_TARGET 102	82	#define SPI_CMD_GPS_TARGET 102
-		83	#define SPI_KALMAN 103
-		84
83	struct str_FromNaviCtrl	85	struct str_FromNaviCtrl
84	{	86	{
85	unsigned char Command;	87	unsigned char Command;
86	signed int GPS_Nick;	88	signed int GPS_Nick;
87	signed int GPS_Roll;	89	signed int GPS_Roll;
88	signed int GPS_Gier;	90	signed int GPS_Gier;
89	signed int CompassValue;	91	signed int CompassValue;
90	signed int Status;	92	signed int Status;
91	unsigned int BeepTime;	93	unsigned int BeepTime;
92	union	94	union
93	{ char Byte[12];	95	{ char Byte[12];
94	int Int[6];	96	int Int[6];
95	long Long[3];	97	long Long[3];
96	float Float[3];	98	float Float[3];
97	} Param;	99	} Param;
98	unsigned char Chksum;	100	unsigned char Chksum;
99	};	101	};
100		102
101	struct str_FromNaviCtrl_Value	103	struct str_FromNaviCtrl_Value
102	{	104	{
103	signed int OsdBar;	105	signed int OsdBar;
104	signed int Distance;	106	signed int Distance;
-		107	signed char Kalman_K;
-		108	signed char Kalman_MaxDrift;
-		109	signed char Kalman_MaxFusion;
105	};	110	};
106		111
107	#ifdef USE_SPI_COMMUNICATION	112	#ifdef USE_SPI_COMMUNICATION
108		113
109	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;	114	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
110	extern struct str_ToNaviCtrl ToNaviCtrl;	115	extern struct str_ToNaviCtrl ToNaviCtrl;
111	extern struct str_FromNaviCtrl FromNaviCtrl;	116	extern struct str_FromNaviCtrl FromNaviCtrl;
112	extern unsigned char SPI_CommandCounter;	117	extern unsigned char SPI_CommandCounter;
113		118
114	//#define SPI_CMD_VALUE 0x03	119	//#define SPI_CMD_VALUE 0x03
115		120
116	extern void SPI_MasterInit(void);	121	extern void SPI_MasterInit(void);
117	extern void SPI_StartTransmitPacket(void);	122	extern void SPI_StartTransmitPacket(void);
118	extern void UpdateSPI_Buffer(void);	123	extern void UpdateSPI_Buffer(void);
119	extern void SPI_TransmitByte(void);	124	extern void SPI_TransmitByte(void);
120	#else	125	#else
121		126
122		127
123	// -------------------------------- Dummy -----------------------------------------	128	// -------------------------------- Dummy -----------------------------------------
124	#define SPI_MasterInit() ;	129	#define SPI_MasterInit() ;
125	#define SPI_StartTransmitPacket() ;	130	#define SPI_StartTransmitPacket() ;
126	#define UpdateSPI_Buffer() ;	131	#define UpdateSPI_Buffer() ;
127	#define SPI_TransmitByte() ;	132	#define SPI_TransmitByte() ;
128	#endif	133	#endif
129		134
130		135
131	#endif	136	#endif
132		137

Subversion Repositories FlightCtrl

(root)/branches/V0.84a_var_motorsmoothing/spi.h @ 2045 - Rev 991 → 992