WebSVN - FlightCtrl - Diff - Rev 1508 and 1561


// ######################## SPI - FlightCtrl ###################
#ifndef _SPI_H
#define _SPI_H
 
#include <util/delay.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;
        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  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 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 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 1508	Rev 1561
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	//-----------------------------------------	9	//-----------------------------------------
10	#define DDR_SPI DDRB	10	#define DDR_SPI DDRB
-		11	#define SLAVE_SELECT_DDR_PORT DDRC
-		12	#define SLAVE_SELECT_PORT PORTC
-		13
-		14	#if defined(__AVR_ATmega1284P__)
-		15	#define DD_SS PORTB4
-		16	#define DD_SCK PORTB7
-		17	#define DD_MOSI PORTB5
-		18	#define DD_MISO PORTB6
-		19	#define SPI_SLAVE_SELECT PORTC5
-		20	#else
11	#define DD_SS PB4	21	#define DD_SS PB4
12	#define DD_SCK PB7	22	#define DD_SCK PB7
13	#define DD_MOSI PB5	23	#define DD_MOSI PB5
14	#define DD_MISO PB6	24	#define DD_MISO PB6
-		25	#define SPI_SLAVE_SELECT PC5
-		26	#endif
15		27
16	// for compatibility reasons gcc3.x <-> gcc4.x	28	// for compatibility reasons gcc3.x <-> gcc4.x
17	#ifndef SPCR	29	#ifndef SPCR
18	#define SPCR SPCR0	30	#define SPCR SPCR0
19	#endif	31	#endif
20	#ifndef SPE	32	#ifndef SPE
21	#define SPE SPE0	33	#define SPE SPE0
22	#endif	34	#endif
23	#ifndef MSTR	35	#ifndef MSTR
24	#define MSTR MSTR0	36	#define MSTR MSTR0
25	#endif	37	#endif
26	#ifndef SPR1	38	#ifndef SPR1
27	#define SPR1 SPR01	39	#define SPR1 SPR01
28	#endif	40	#endif
29	#ifndef SPR0	41	#ifndef SPR0
30	#define SPR0 SPR00	42	#define SPR0 SPR00
31	#endif	43	#endif
32	#ifndef SPIE	44	#ifndef SPIE
33	#define SPIE SPIE0	45	#define SPIE SPIE0
34	#endif	46	#endif
35	#ifndef SPDR	47	#ifndef SPDR
36	#define SPDR SPDR0	48	#define SPDR SPDR0
37	#endif	49	#endif
38	#ifndef SPIF	50	#ifndef SPIF
39	#define SPIF SPIF0	51	#define SPIF SPIF0
40	#endif	52	#endif
41	#ifndef SPSR	53	#ifndef SPSR
42	#define SPSR SPSR0	54	#define SPSR SPSR0
43	#endif	55	#endif
44	// -------------------------	56	// -------------------------
45		-
46	#define SLAVE_SELECT_DDR_PORT DDRC	-
47	#define SLAVE_SELECT_PORT PORTC	-
48	#define SPI_SLAVE_SELECT PC5	-
49		-
50		57
51	#define SPI_FCCMD_USER 10	58	#define SPI_FCCMD_USER 10
52	#define SPI_FCCMD_STICK 11	59	#define SPI_FCCMD_STICK 11
53	#define SPI_FCCMD_MISC 12	60	#define SPI_FCCMD_MISC 12
54	#define SPI_FCCMD_PARAMETER1 13	61	#define SPI_FCCMD_PARAMETER1 13
55	#define SPI_FCCMD_VERSION 14	62	#define SPI_FCCMD_VERSION 14
56	#define SPI_FCCMD_SERVOS 15	63	#define SPI_FCCMD_SERVOS 15
57	#define SPI_FCCMD_ACCU 16	64	#define SPI_FCCMD_ACCU 16
58		65
59	struct str_ToNaviCtrl	66	struct str_ToNaviCtrl
60	{	67	{
61	unsigned char Sync1, Sync2;	68	unsigned char Sync1, Sync2;
62	unsigned char Command;	69	unsigned char Command;
63	signed int IntegralNick;	70	signed int IntegralNick;
64	signed int IntegralRoll;	71	signed int IntegralRoll;
65	signed int AccNick;	72	signed int AccNick;
66	signed int AccRoll;	73	signed int AccRoll;
67	signed int GyroCompass;	74	signed int GyroCompass;
68	signed int GyroNick;	75	signed int GyroNick;
69	signed int GyroRoll;	76	signed int GyroRoll;
70	signed int GyroGier;	77	signed int GyroGier;
71	union	78	union
72	{	79	{
73	unsigned char Byte[12];	80	unsigned char Byte[12];
74	char sByte[12];	81	char sByte[12];
75	unsigned int Int[6];	82	unsigned int Int[6];
76	int sInt[6];	83	int sInt[6];
77	unsigned long Long[3];	84	unsigned long Long[3];
78	long sLong[3];	85	long sLong[3];
79	float Float[3];	86	float Float[3];
80	} Param;	87	} Param;
81	unsigned char Chksum;	88	unsigned char Chksum;
82	};	89	};
83		90
84	#define SPI_NCCMD_KALMAN 103	91	#define SPI_NCCMD_KALMAN 103
85	#define SPI_NCCMD_VERSION 104	92	#define SPI_NCCMD_VERSION 104
86	#define SPI_NCCMD_GPSINFO 105	93	#define SPI_NCCMD_GPSINFO 105
87		94
88	struct str_FromNaviCtrl	95	struct str_FromNaviCtrl
89	{	96	{
90	unsigned char Command;	97	unsigned char Command;
91	signed int GPS_Nick;	98	signed int GPS_Nick;
92	signed int GPS_Roll;	99	signed int GPS_Roll;
93	signed int GPS_Gier;	100	signed int GPS_Gier;
94	signed int CompassValue;	101	signed int CompassValue;
95	signed int Status;	102	signed int Status;
96	unsigned int BeepTime;	103	unsigned int BeepTime;
97	union	104	union
98	{	105	{
99	unsigned char Byte[12];	106	unsigned char Byte[12];
100	char sByte[12];	107	char sByte[12];
101	unsigned int Int[6];	108	unsigned int Int[6];
102	int sInt[6];	109	int sInt[6];
103	unsigned long Long[3];	110	unsigned long Long[3];
104	long sLong[3];	111	long sLong[3];
105	float Float[3];	112	float Float[3];
106	} Param;	113	} Param;
107	unsigned char Chksum;	114	unsigned char Chksum;
108	};	115	};
109		116
110	struct str_FromNaviCtrl_Value	117	struct str_FromNaviCtrl_Value
111	{	118	{
112	signed char Kalman_K;	119	signed char Kalman_K;
113	signed char Kalman_MaxDrift;	120	signed char Kalman_MaxDrift;
114	signed char Kalman_MaxFusion;	121	signed char Kalman_MaxFusion;
115	unsigned char SerialDataOkay;	122	unsigned char SerialDataOkay;
116	signed char GpsZ;	123	signed char GpsZ;
117	};	124	};
118		125
119	struct str_SPI_VersionInfo	126	struct str_SPI_VersionInfo
120	{	127	{
121	unsigned char Major;	128	unsigned char Major;
122	unsigned char Minor;	129	unsigned char Minor;
123	unsigned char Patch;	130	unsigned char Patch;
124	unsigned char Compatible;	131	unsigned char Compatible;
125	unsigned char Hardware;	132	unsigned char Hardware;
126	};	133	};
127		134
128	// Satfix types for GPSData.SatFix	135	// Satfix types for GPSData.SatFix
129	#define SATFIX_NONE 0x00	136	#define SATFIX_NONE 0x00
130	#define SATFIX_DEADRECKOING 0x01	137	#define SATFIX_DEADRECKOING 0x01
131	#define SATFIX_2D 0x02	138	#define SATFIX_2D 0x02
132	#define SATFIX_3D 0x03	139	#define SATFIX_3D 0x03
133	#define SATFIX_GPS_DEADRECKOING 0x04	140	#define SATFIX_GPS_DEADRECKOING 0x04
134	#define SATFIX_TIMEONLY 0x05	141	#define SATFIX_TIMEONLY 0x05
135	// Flags for interpretation of the GPSData.Flags	142	// Flags for interpretation of the GPSData.Flags
136	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)	143	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)
137	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)	144	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)
138	#define FLAG_WKNSET 0x04 // (is Week Number valid)	145	#define FLAG_WKNSET 0x04 // (is Week Number valid)
139	#define FLAG_TOWSET 0x08 // (is Time of Week valid)	146	#define FLAG_TOWSET 0x08 // (is Time of Week valid)
140		147
141	struct str_GPSInfo	148	struct str_GPSInfo
142	{	149	{
143	unsigned char Flags; // Status Flags	150	unsigned char Flags; // Status Flags
144	unsigned char NumOfSats; // number of satelites	151	unsigned char NumOfSats; // number of satelites
145	unsigned char SatFix; // type of satfix	152	unsigned char SatFix; // type of satfix
146	unsigned int HomeDistance; // distance to Home in dm	153	unsigned int HomeDistance; // distance to Home in dm
147	int HomeBearing; // bearing to home in deg	154	int HomeBearing; // bearing to home in deg
148	};	155	};
149		156
150		157
151	#ifdef USE_SPI_COMMUNICATION	158	#ifdef USE_SPI_COMMUNICATION
152	extern struct str_GPSInfo GPSInfo;	159	extern struct str_GPSInfo GPSInfo;
153	extern struct str_SPI_VersionInfo NC_Version;	160	extern struct str_SPI_VersionInfo NC_Version;
154	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;	161	extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
155	extern struct str_ToNaviCtrl ToNaviCtrl;	162	extern struct str_ToNaviCtrl ToNaviCtrl;
156	extern struct str_FromNaviCtrl FromNaviCtrl;	163	extern struct str_FromNaviCtrl FromNaviCtrl;
157	extern unsigned char SPI_CommandCounter,NaviDataOkay;	164	extern unsigned char SPI_CommandCounter,NaviDataOkay;
158		165
159		166
160	extern void SPI_MasterInit(void);	167	extern void SPI_MasterInit(void);
161	extern void SPI_StartTransmitPacket(void);	168	extern void SPI_StartTransmitPacket(void);
162	extern void UpdateSPI_Buffer(void);	169	extern void UpdateSPI_Buffer(void);
163	extern void SPI_TransmitByte(void);	170	extern void SPI_TransmitByte(void);
164	#else	171	#else
165		172
166		173
167	// -------------------------------- Dummy -----------------------------------------	174	// -------------------------------- Dummy -----------------------------------------
168	#define SPI_MasterInit() ;	175	#define SPI_MasterInit() ;
169	#define SPI_StartTransmitPacket() ;	176	#define SPI_StartTransmitPacket() ;
170	#define UpdateSPI_Buffer() ;	177	#define UpdateSPI_Buffer() ;
171	#define SPI_TransmitByte() ;	178	#define SPI_TransmitByte() ;
172	#endif	179	#endif
173		180
174		181
175	#endif	182	#endif
176		183

Subversion Repositories FlightCtrl

(root)/tags/V0.88m/spi.h @ 2731 - Rev 1508 → 1561