WebSVN - FlightCtrl - Diff - Rev 1231 and 1241


// ######################## 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_MISC        12
#define SPI_CMD_PARAMETER1  13
#define SPI_CMD_VERSION     14
#define SPI_CMD_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
        {
                char sByte[12];
                unsigned char Byte[12];
                int  Int[6];
                long Long[3];
                float Float[3];
        } Param;
        unsigned char Chksum;
};
 
#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 sByte[12];
                unsigned char Byte[12];
                int  Int[6];
                long Long[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;
};
 
struct str_SPI_VersionInfo
{
  unsigned char Major;
  unsigned char Minor;
  unsigned char Patch;
  unsigned char Compatible;
};
 
#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,NaviDataOkay;
 
//#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 1231	Rev 1241
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	#define SPI_CMD_SERVOS 15
58		59
59	struct str_ToNaviCtrl	60	struct str_ToNaviCtrl
60	{	61	{
61	unsigned char Sync1, Sync2;	62	unsigned char Sync1, Sync2;
62	unsigned char Command;	63	unsigned char Command;
63	signed int IntegralNick;	64	signed int IntegralNick;
64	signed int IntegralRoll;	65	signed int IntegralRoll;
65	signed int AccNick;	66	signed int AccNick;
66	signed int AccRoll;	67	signed int AccRoll;
67	signed int GyroCompass;	68	signed int GyroCompass;
68	signed int GyroNick;	69	signed int GyroNick;
69	signed int GyroRoll;	70	signed int GyroRoll;
70	signed int GyroGier;	71	signed int GyroGier;
71	union	72	union
72	{	73	{
73	char sByte[12];	74	char sByte[12];
74	unsigned char Byte[12];	75	unsigned char Byte[12];
75	int Int[6];	76	int Int[6];
76	long Long[3];	77	long Long[3];
77	float Float[3];	78	float Float[3];
78	} Param;	79	} Param;
79	unsigned char Chksum;	80	unsigned char Chksum;
80	};	81	};
81		82
82	#define SPI_KALMAN 103	83	#define SPI_KALMAN 103
83	#define SPI_EXTCTRL 104	-
-		84
84	struct str_FromNaviCtrl	85	struct str_FromNaviCtrl
85	{	86	{
86	unsigned char Command;	87	unsigned char Command;
87	signed int GPS_Nick;	88	signed int GPS_Nick;
88	signed int GPS_Roll;	89	signed int GPS_Roll;
89	signed int GPS_Gier;	90	signed int GPS_Gier;
90	signed int CompassValue;	91	signed int CompassValue;
91	signed int Status;	92	signed int Status;
92	unsigned int BeepTime;	93	unsigned int BeepTime;
93	union	94	union
94	{	95	{
95	char sByte[12];	96	char sByte[12];
96	unsigned char Byte[12];	97	unsigned char Byte[12];
97	int Int[6];	98	int Int[6];
98	long Long[3];	99	long Long[3];
99	float Float[3];	100	float Float[3];
100	} Param;	101	} Param;
101	unsigned char Chksum;	102	unsigned char Chksum;
102	};	103	};
103		104
104	struct str_FromNaviCtrl_Value	105	struct str_FromNaviCtrl_Value
105	{	106	{
106	signed char Kalman_K;	107	signed char Kalman_K;
107	signed char Kalman_MaxDrift;	108	signed char Kalman_MaxDrift;
108	signed char Kalman_MaxFusion;	109	signed char Kalman_MaxFusion;
109	unsigned char SerialDataOkay;	110	unsigned char SerialDataOkay;
110	};	111	};
111		112
112	struct str_SPI_VersionInfo	113	struct str_SPI_VersionInfo
113	{	114	{
114	unsigned char Major;	115	unsigned char Major;
115	unsigned char Minor;	116	unsigned char Minor;
116	unsigned char Patch;	117	unsigned char Patch;
117	unsigned char Compatible;	118	unsigned char Compatible;
118	};	119	};
119		120
120	#ifdef USE_SPI_COMMUNICATION	121	#ifdef USE_SPI_COMMUNICATION
121		122
122	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;	123	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
123	extern struct str_ToNaviCtrl ToNaviCtrl;	124	extern struct str_ToNaviCtrl ToNaviCtrl;
124	extern struct str_FromNaviCtrl FromNaviCtrl;	125	extern struct str_FromNaviCtrl FromNaviCtrl;
125	extern unsigned char SPI_CommandCounter,NaviDataOkay;	126	extern unsigned char SPI_CommandCounter,NaviDataOkay;
126		127
127	//#define SPI_CMD_VALUE 0x03	128	//#define SPI_CMD_VALUE 0x03
128		129
129	extern void SPI_MasterInit(void);	130	extern void SPI_MasterInit(void);
130	extern void SPI_StartTransmitPacket(void);	131	extern void SPI_StartTransmitPacket(void);
131	extern void UpdateSPI_Buffer(void);	132	extern void UpdateSPI_Buffer(void);
132	extern void SPI_TransmitByte(void);	133	extern void SPI_TransmitByte(void);
133	#else	134	#else
134		135
135		136
136	// -------------------------------- Dummy -----------------------------------------	137	// -------------------------------- Dummy -----------------------------------------
137	#define SPI_MasterInit() ;	138	#define SPI_MasterInit() ;
138	#define SPI_StartTransmitPacket() ;	139	#define SPI_StartTransmitPacket() ;
139	#define UpdateSPI_Buffer() ;	140	#define UpdateSPI_Buffer() ;
140	#define SPI_TransmitByte() ;	141	#define SPI_TransmitByte() ;
141	#endif	142	#endif
142		143
143		144
144	#endif	145	#endif
145		146

Subversion Repositories FlightCtrl

(root)/tags/V0.82a/spi.h @ 2716 - Rev 1231 → 1241