WebSVN - FlightCtrl - Diff - Rev 1852 and 1855


// ######################## SPI - FlightCtrl ###################
#ifndef _SPI_H
#define _SPI_H
 
#include <util/delay.h>
#include "vector.h"
 
#define USE_SPI_COMMUNICATION
 
//-----------------------------------------
#define DDR_SPI DDRB
#define SLAVE_SELECT_DDR_PORT   DDRC
#define SLAVE_SELECT_PORT       PORTC
 
#if defined(__AVR_ATmega1284P__)
#define DD_SS                           PORTB4
#define DD_SCK                          PORTB7
#define DD_MOSI                         PORTB5
#define DD_MISO                         PORTB6
#define SPI_SLAVE_SELECT        PORTC5
#else
#define DD_SS                           PB4
#define DD_SCK                          PB7
#define DD_MOSI                         PB5
#define DD_MISO                         PB6
#define SPI_SLAVE_SELECT        PC5
#endif
 
// 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 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;
        unsigned int FCStatus;
        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  MagVecX;
//      signed int  MagVecY;
//      signed int  MagVecZ;
        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 char   Speed;                  // m/sek
        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 signed char FromNC_Rotate_C, FromNC_Rotate_S;
extern unsigned char NC_ErrorCode;
extern void SPI_MasterInit(void);
extern void SPI_StartTransmitPacket(void);
extern void UpdateSPI_Buffer(void);
extern void SPI_TransmitByte(void);
extern signed int POI_KameraNick;
extern vector16_t MagVec;
#else
 
 
// -------------------------------- Dummy -----------------------------------------
#define  SPI_MasterInit() ;
#define  SPI_StartTransmitPacket() ;
#define  UpdateSPI_Buffer() ;
#define  SPI_TransmitByte() ;
#endif
 
 
#endif
 

Rev 1852	Rev 1855
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	#include "vector.h"	6	#include "vector.h"
7		7
8	#define USE_SPI_COMMUNICATION	8	#define USE_SPI_COMMUNICATION
9		9
10	//-----------------------------------------	10	//-----------------------------------------
11	#define DDR_SPI DDRB	11	#define DDR_SPI DDRB
12	#define SLAVE_SELECT_DDR_PORT DDRC	12	#define SLAVE_SELECT_DDR_PORT DDRC
13	#define SLAVE_SELECT_PORT PORTC	13	#define SLAVE_SELECT_PORT PORTC
14		14
15	#if defined(__AVR_ATmega1284P__)	15	#if defined(__AVR_ATmega1284P__)
16	#define DD_SS PORTB4	16	#define DD_SS PORTB4
17	#define DD_SCK PORTB7	17	#define DD_SCK PORTB7
18	#define DD_MOSI PORTB5	18	#define DD_MOSI PORTB5
19	#define DD_MISO PORTB6	19	#define DD_MISO PORTB6
20	#define SPI_SLAVE_SELECT PORTC5	20	#define SPI_SLAVE_SELECT PORTC5
21	#else	21	#else
22	#define DD_SS PB4	22	#define DD_SS PB4
23	#define DD_SCK PB7	23	#define DD_SCK PB7
24	#define DD_MOSI PB5	24	#define DD_MOSI PB5
25	#define DD_MISO PB6	25	#define DD_MISO PB6
26	#define SPI_SLAVE_SELECT PC5	26	#define SPI_SLAVE_SELECT PC5
27	#endif	27	#endif
28		28
29	// for compatibility reasons gcc3.x <-> gcc4.x	29	// for compatibility reasons gcc3.x <-> gcc4.x
30	#ifndef SPCR	30	#ifndef SPCR
31	#define SPCR SPCR0	31	#define SPCR SPCR0
32	#endif	32	#endif
33	#ifndef SPE	33	#ifndef SPE
34	#define SPE SPE0	34	#define SPE SPE0
35	#endif	35	#endif
36	#ifndef MSTR	36	#ifndef MSTR
37	#define MSTR MSTR0	37	#define MSTR MSTR0
38	#endif	38	#endif
39	#ifndef SPR1	39	#ifndef SPR1
40	#define SPR1 SPR01	40	#define SPR1 SPR01
41	#endif	41	#endif
42	#ifndef SPR0	42	#ifndef SPR0
43	#define SPR0 SPR00	43	#define SPR0 SPR00
44	#endif	44	#endif
45	#ifndef SPIE	45	#ifndef SPIE
46	#define SPIE SPIE0	46	#define SPIE SPIE0
47	#endif	47	#endif
48	#ifndef SPDR	48	#ifndef SPDR
49	#define SPDR SPDR0	49	#define SPDR SPDR0
50	#endif	50	#endif
51	#ifndef SPIF	51	#ifndef SPIF
52	#define SPIF SPIF0	52	#define SPIF SPIF0
53	#endif	53	#endif
54	#ifndef SPSR	54	#ifndef SPSR
55	#define SPSR SPSR0	55	#define SPSR SPSR0
56	#endif	56	#endif
57	// -------------------------	57	// -------------------------
58		58
59	#define SPI_FCCMD_USER 10	59	#define SPI_FCCMD_USER 10
60	#define SPI_FCCMD_STICK 11	60	#define SPI_FCCMD_STICK 11
61	#define SPI_FCCMD_MISC 12	61	#define SPI_FCCMD_MISC 12
62	#define SPI_FCCMD_PARAMETER1 13	62	#define SPI_FCCMD_PARAMETER1 13
63	#define SPI_FCCMD_VERSION 14	63	#define SPI_FCCMD_VERSION 14
64	#define SPI_FCCMD_SERVOS 15	64	#define SPI_FCCMD_SERVOS 15
65	#define SPI_FCCMD_ACCU 16	65	#define SPI_FCCMD_ACCU 16
66		66
67	struct str_ToNaviCtrl	67	struct str_ToNaviCtrl
68	{	68	{
69	unsigned char Sync1, Sync2;	69	unsigned char Sync1, Sync2;
70	unsigned char Command;	70	unsigned char Command;
71	signed int IntegralNick;	71	signed int IntegralNick;
72	signed int IntegralRoll;	72	signed int IntegralRoll;
73	signed int AccNick;	73	signed int AccNick;
74	signed int AccRoll;	74	signed int AccRoll;
75	signed int GyroCompass;	75	signed int GyroCompass;
76	signed int GyroNick;	76	signed int GyroNick;
77	signed int GyroRoll;	77	signed int GyroRoll;
78	signed int GyroGier;	78	signed int GyroGier;
79	unsigned int FCStatus;	79	unsigned int FCStatus;
80	union	80	union
81	{	81	{
82	unsigned char Byte[12];	82	unsigned char Byte[12];
83	char sByte[12];	83	char sByte[12];
84	unsigned int Int[6];	84	unsigned int Int[6];
85	int sInt[6];	85	int sInt[6];
86	unsigned long Long[3];	86	unsigned long Long[3];
87	long sLong[3];	87	long sLong[3];
88	float Float[3];	88	float Float[3];
89	} Param;	89	} Param;
90	unsigned char Chksum;	90	unsigned char Chksum;
91	};	91	};
92		92
93	#define SPI_NCCMD_KALMAN 103	93	#define SPI_NCCMD_KALMAN 103
94	#define SPI_NCCMD_VERSION 104	94	#define SPI_NCCMD_VERSION 104
95	#define SPI_NCCMD_GPSINFO 105	95	#define SPI_NCCMD_GPSINFO 105
96		96
97	struct str_FromNaviCtrl	97	struct str_FromNaviCtrl
98	{	98	{
99	unsigned char Command;	99	unsigned char Command;
100	signed int GPS_Nick;	100	signed int GPS_Nick;
101	signed int GPS_Roll;	101	signed int GPS_Roll;
102	signed int GPS_Gier;	102	signed int GPS_Gier;
103	signed int CompassValue;	103	signed int CompassValue;
104	signed int MagVecX;	104	// signed int MagVecX;
105	signed int MagVecY;	105	// signed int MagVecY;
106	signed int MagVecZ;	106	// signed int MagVecZ;
107	signed int Status;	107	signed int Status;
108	unsigned int BeepTime;	108	unsigned int BeepTime;
109	union	109	union
110	{	110	{
111	unsigned char Byte[12];	111	unsigned char Byte[12];
112	char sByte[12];	112	char sByte[12];
113	unsigned int Int[6];	113	unsigned int Int[6];
114	int sInt[6];	114	int sInt[6];
115	unsigned long Long[3];	115	unsigned long Long[3];
116	long sLong[3];	116	long sLong[3];
117	float Float[3];	117	float Float[3];
118	} Param;	118	} Param;
119	unsigned char Chksum;	119	unsigned char Chksum;
120	};	120	};
121		121
122	struct str_FromNaviCtrl_Value	122	struct str_FromNaviCtrl_Value
123	{	123	{
124	signed char Kalman_K;	124	signed char Kalman_K;
125	signed char Kalman_MaxDrift;	125	signed char Kalman_MaxDrift;
126	signed char Kalman_MaxFusion;	126	signed char Kalman_MaxFusion;
127	unsigned char SerialDataOkay;	127	unsigned char SerialDataOkay;
128	signed char GpsZ;	128	signed char GpsZ;
129	};	129	};
130		130
131	struct str_SPI_VersionInfo	131	struct str_SPI_VersionInfo
132	{	132	{
133	unsigned char Major;	133	unsigned char Major;
134	unsigned char Minor;	134	unsigned char Minor;
135	unsigned char Patch;	135	unsigned char Patch;
136	unsigned char Compatible;	136	unsigned char Compatible;
137	unsigned char Hardware;	137	unsigned char Hardware;
138	};	138	};
139		139
140	// Satfix types for GPSData.SatFix	140	// Satfix types for GPSData.SatFix
141	#define SATFIX_NONE 0x00	141	#define SATFIX_NONE 0x00
142	#define SATFIX_DEADRECKOING 0x01	142	#define SATFIX_DEADRECKOING 0x01
143	#define SATFIX_2D 0x02	143	#define SATFIX_2D 0x02
144	#define SATFIX_3D 0x03	144	#define SATFIX_3D 0x03
145	#define SATFIX_GPS_DEADRECKOING 0x04	145	#define SATFIX_GPS_DEADRECKOING 0x04
146	#define SATFIX_TIMEONLY 0x05	146	#define SATFIX_TIMEONLY 0x05
147	// Flags for interpretation of the GPSData.Flags	147	// Flags for interpretation of the GPSData.Flags
148	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)	148	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)
149	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)	149	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)
150	#define FLAG_WKNSET 0x04 // (is Week Number valid)	150	#define FLAG_WKNSET 0x04 // (is Week Number valid)
151	#define FLAG_TOWSET 0x08 // (is Time of Week valid)	151	#define FLAG_TOWSET 0x08 // (is Time of Week valid)
152		152
153	struct str_GPSInfo	153	struct str_GPSInfo
154	{	154	{
155	unsigned char Flags; // Status Flags	155	unsigned char Flags; // Status Flags
156	unsigned char NumOfSats; // number of satelites	156	unsigned char NumOfSats; // number of satelites
157	unsigned char SatFix; // type of satfix	157	unsigned char SatFix; // type of satfix
158	unsigned char Speed; // m/sek	158	unsigned char Speed; // m/sek
159	unsigned int HomeDistance; // distance to Home in dm	159	unsigned int HomeDistance; // distance to Home in dm
160	int HomeBearing; // bearing to home in deg	160	int HomeBearing; // bearing to home in deg
161	};	161	};
162		162
163		163
164	#ifdef USE_SPI_COMMUNICATION	164	#ifdef USE_SPI_COMMUNICATION
165	extern struct str_GPSInfo GPSInfo;	165	extern struct str_GPSInfo GPSInfo;
166	extern struct str_SPI_VersionInfo NC_Version;	166	extern struct str_SPI_VersionInfo NC_Version;
167	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;	167	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
168	extern struct str_ToNaviCtrl ToNaviCtrl;	168	extern struct str_ToNaviCtrl ToNaviCtrl;
169	extern struct str_FromNaviCtrl FromNaviCtrl;	169	extern struct str_FromNaviCtrl FromNaviCtrl;
170	extern unsigned char SPI_CommandCounter,NaviDataOkay;	170	extern unsigned char SPI_CommandCounter,NaviDataOkay;
171	extern signed char FromNC_Rotate_C, FromNC_Rotate_S;	171	extern signed char FromNC_Rotate_C, FromNC_Rotate_S;
172	extern unsigned char NC_ErrorCode;	172	extern unsigned char NC_ErrorCode;
173	extern void SPI_MasterInit(void);	173	extern void SPI_MasterInit(void);
174	extern void SPI_StartTransmitPacket(void);	174	extern void SPI_StartTransmitPacket(void);
175	extern void UpdateSPI_Buffer(void);	175	extern void UpdateSPI_Buffer(void);
176	extern void SPI_TransmitByte(void);	176	extern void SPI_TransmitByte(void);
177	extern signed int POI_KameraNick;	177	extern signed int POI_KameraNick;
178	extern vector16_t MagVec;	178	extern vector16_t MagVec;
179	#else	179	#else
180		180
181		181
182	// -------------------------------- Dummy -----------------------------------------	182	// -------------------------------- Dummy -----------------------------------------
183	#define SPI_MasterInit() ;	183	#define SPI_MasterInit() ;
184	#define SPI_StartTransmitPacket() ;	184	#define SPI_StartTransmitPacket() ;
185	#define UpdateSPI_Buffer() ;	185	#define UpdateSPI_Buffer() ;
186	#define SPI_TransmitByte() ;	186	#define SPI_TransmitByte() ;
187	#endif	187	#endif
188		188
189		189
190	#endif	190	#endif
191		191

Subversion Repositories FlightCtrl

(root)/tags/V0.86c/spi.h @ 2163 - Rev 1852 → 1855