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|---|---|---|---|
| 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_MISC 12 |
55 | #define SPI_CMD_MISC 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 | { |
|
| 72 | { char Byte[12]; |
73 | char sByte[12]; |
| - | 74 | unsigned char Byte[12]; |
|
| 73 | int Int[6]; |
75 | int Int[6]; |
| 74 | long Long[3]; |
76 | long Long[3]; |
| 75 | float Float[3]; |
77 | float Float[3]; |
| 76 | } Param; |
78 | } Param; |
| 77 | unsigned char Chksum; |
79 | unsigned char Chksum; |
| 78 | }; |
80 | }; |
| 79 | 81 | ||
| 80 | #define SPI_KALMAN 103 |
- | |
| - | 82 | #define SPI_KALMAN 103 |
|
| 81 | 83 | #define SPI_EXTCTRL 104 |
|
| 82 | struct str_FromNaviCtrl |
84 | struct str_FromNaviCtrl |
| 83 | { |
85 | { |
| 84 | unsigned char Command; |
86 | unsigned char Command; |
| 85 | signed int GPS_Nick; |
87 | signed int GPS_Nick; |
| 86 | signed int GPS_Roll; |
88 | signed int GPS_Roll; |
| 87 | signed int GPS_Gier; |
89 | signed int GPS_Gier; |
| 88 | signed int CompassValue; |
90 | signed int CompassValue; |
| 89 | signed int Status; |
91 | signed int Status; |
| 90 | unsigned int BeepTime; |
92 | unsigned int BeepTime; |
| - | 93 | union |
|
| 91 | union |
94 | { |
| - | 95 | char sByte[12]; |
|
| 92 | { char Byte[12]; |
96 | unsigned char Byte[12]; |
| 93 | int Int[6]; |
97 | int Int[6]; |
| 94 | long Long[3]; |
98 | long Long[3]; |
| 95 | float Float[3]; |
99 | float Float[3]; |
| 96 | } Param; |
100 | } Param; |
| 97 | unsigned char Chksum; |
101 | unsigned char Chksum; |
| 98 | }; |
102 | }; |
| 99 | 103 | ||
| 100 | struct str_FromNaviCtrl_Value |
104 | struct str_FromNaviCtrl_Value |
| 101 | { |
105 | { |
| 102 | signed char Kalman_K; |
106 | signed char Kalman_K; |
| 103 | signed char Kalman_MaxDrift; |
107 | signed char Kalman_MaxDrift; |
| 104 | signed char Kalman_MaxFusion; |
108 | signed char Kalman_MaxFusion; |
| 105 | unsigned char SerialDataOkay; |
109 | unsigned char SerialDataOkay; |
| 106 | }; |
110 | }; |
| 107 | 111 | ||
| 108 | struct str_SPI_VersionInfo |
112 | struct str_SPI_VersionInfo |
| 109 | { |
113 | { |
| 110 | unsigned char Major; |
114 | unsigned char Major; |
| 111 | unsigned char Minor; |
115 | unsigned char Minor; |
| 112 | unsigned char Patch; |
116 | unsigned char Patch; |
| 113 | unsigned char Compatible; |
117 | unsigned char Compatible; |
| 114 | }; |
118 | }; |
| 115 | 119 | ||
| 116 | #ifdef USE_SPI_COMMUNICATION |
120 | #ifdef USE_SPI_COMMUNICATION |
| 117 | 121 | ||
| 118 | extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
122 | extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
| 119 | extern struct str_ToNaviCtrl ToNaviCtrl; |
123 | extern struct str_ToNaviCtrl ToNaviCtrl; |
| 120 | extern struct str_FromNaviCtrl FromNaviCtrl; |
124 | extern struct str_FromNaviCtrl FromNaviCtrl; |
| 121 | extern unsigned char SPI_CommandCounter,NaviDataOkay; |
125 | extern unsigned char SPI_CommandCounter,NaviDataOkay; |
| 122 | 126 | ||
| 123 | //#define SPI_CMD_VALUE 0x03 |
127 | //#define SPI_CMD_VALUE 0x03 |
| 124 | 128 | ||
| 125 | extern void SPI_MasterInit(void); |
129 | extern void SPI_MasterInit(void); |
| 126 | extern void SPI_StartTransmitPacket(void); |
130 | extern void SPI_StartTransmitPacket(void); |
| 127 | extern void UpdateSPI_Buffer(void); |
131 | extern void UpdateSPI_Buffer(void); |
| 128 | extern void SPI_TransmitByte(void); |
132 | extern void SPI_TransmitByte(void); |
| 129 | #else |
133 | #else |
| 130 | 134 | ||
| 131 | 135 | ||
| 132 | // -------------------------------- Dummy ----------------------------------------- |
136 | // -------------------------------- Dummy ----------------------------------------- |
| 133 | #define SPI_MasterInit() ; |
137 | #define SPI_MasterInit() ; |
| 134 | #define SPI_StartTransmitPacket() ; |
138 | #define SPI_StartTransmitPacket() ; |
| 135 | #define UpdateSPI_Buffer() ; |
139 | #define UpdateSPI_Buffer() ; |
| 136 | #define SPI_TransmitByte() ; |
140 | #define SPI_TransmitByte() ; |
| 137 | #endif |
141 | #endif |
| 138 | 142 | ||
| 139 | 143 | ||
| 140 | #endif |
144 | #endif |
| 141 | 145 | ||