Subversion Repositories FlightCtrl

Rev

Rev 692 | Rev 709 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 692 Rev 708
Line 1... Line 1...
1 
// ######################## SPI - FlightCtrl ###################
 1 
// ######################## SPI - FlightCtrl ###################
2 
#ifndef _SPI_H
 2 
#ifndef _SPI_H
3 
#define _SPI_H
 3 
#define _SPI_H
Line -... Line 4...
- 
 
 4 
 
- 
 
 5 
#include <util/delay.h>
4 
 
 6 
 
Line 5... Line 7...
5 
//#define USE_SPI_COMMUNICATION
7 
#define USE_SPI_COMMUNICATION
Line 6... Line 8...
6 
 
 8 
 
7 
#define SPI_PROTOCOL_COMP   1
 9 
#define SPI_PROTOCOL_COMP   1
Line 45... Line 47...
45 
 
 47 
 
46 
#define SLAVE_SELECT_DDR_PORT   DDRC
 48 
#define SLAVE_SELECT_DDR_PORT   DDRC
47 
#define SLAVE_SELECT_PORT       PORTC
 49 
#define SLAVE_SELECT_PORT       PORTC
Line 48... Line 50...
48 
#define SPI_SLAVE_SELECT        PC5
 50 
#define SPI_SLAVE_SELECT        PC5
- 
 
 51 
 
- 
 
 52 
struct str_ToNaviCtrl_Value
- 
 
 53 
{
- 
 
 54 
 unsigned char Sync1, Sync2;
- 
 
 55 
 unsigned char Command;
- 
 
 56 
 signed int IntegralNick;
- 
 
 57 
 signed int  IntegralRoll;
- 
 
 58 
  char StickNick,StickRoll,  
- 
 
 59 
       StickGier, StickGas,  
- 
 
 60 
       Poti1,Poti2,  
- 
 
 61 
           Poti3,Poti4;
- 
 
 62 
  signed int  GyroCompass;
- 
 
 63 
  signed int  d0;
- 
 
 64 
  signed int  d1;
- 
 
 65 
  unsigned char Chksum;
- 
 
 66 
};
49 
 
 67 
 
50 
struct str_ToNaviCtrl
 68 
 struct str_ToNaviCtrl_Version
- 
 
 69 
 {
- 
 
 70 
  unsigned char Sync1, Sync2;
- 
 
 71 
  unsigned char Command;
51 
{
 72 
  unsigned char  HVersion;
52 
 unsigned char Sync1, Sync2;
 73 
  unsigned char  NVersion;
- 
 
 74 
  unsigned char  Comp;
53 
 unsigned char Comp;
 75 
  unsigned char  d0;
- 
 
 76 
  signed int  d1;
- 
 
 77 
  signed int  d2;
- 
 
 78 
  signed int  d3;
- 
 
 79 
  signed int  d4;
54 
 int IntegralNick;
 80 
  signed int  d5;
55 
 int IntegralRoll;
 81 
  signed int  d6;
56 
 char StickNick,StickRoll,StickGier;
 82 
  signed int  d7;
Line 57... Line 83...
57 
 unsigned char ChkSum;
 83 
  unsigned char Chksum;
58 
};
 84 
 };
- 
 
 85 
 
- 
 
 86 
struct str_FromNaviCtrl_Value
- 
 
 87 
{
- 
 
 88 
 unsigned char Command;
- 
 
 89 
  signed int  GPS_Nick;
- 
 
 90 
  signed int  GPS_Roll;
- 
 
 91 
  signed int  GPS_Gier;
- 
 
 92 
  signed int  GPS_Height;
59 
 
 93 
  signed int  CompassValue;
- 
 
 94 
  signed int  Status;
- 
 
 95 
  signed int  d0;
- 
 
 96 
  signed int  d1;
- 
 
 97 
  signed int  d2;
- 
 
 98 
  unsigned char Chksum;
- 
 
 99 
};
- 
 
 100 
 
- 
 
 101 
 struct str_FromNaviCtrl_Version
- 
 
 102 
 {
60 
struct str_FromNaviCtrl
 103 
  unsigned char Command;
- 
 
 104 
  unsigned char  HVersion;
61 
{
 105 
  unsigned char  NVersion;
62 
 unsigned int Dummy;
 106 
  unsigned char  Comp;
- 
 
 107 
  unsigned char  d0;
- 
 
 108 
  signed int  d1;
- 
 
 109 
  signed int  d2;
- 
 
 110 
  signed int  d3;
- 
 
 111 
  signed int  d4;
63 
 unsigned char Comp;
 112 
  signed int  d5;
64 
 int GPS_Nick;
 113 
  signed int  d6;
Line 65... Line 114...
65 
 int GPS_Roll;
 114 
  signed int  d7;
- 
 
 115 
  unsigned char Chksum;
- 
 
 116 
 };
- 
 
 117 
 
66 
 int CompassValue;
 118 
#ifdef USE_SPI_COMMUNICATION
67 
};
 119 
extern struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
Line -... Line 120...
- 
 
 120 
extern struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
- 
 
 121 
 
Line 68... Line 122...
68 
 
 122 
extern struct str_ToNaviCtrl_Value   ToNaviCtrl_Value;
69 
#ifdef USE_SPI_COMMUNICATION
 123 
extern struct str_FromNaviCtrl_Value   FromNaviCtrl_Value;
70 
extern struct str_ToNaviCtrl   ToNaviCtrl;
 124 
 
71 
extern struct str_FromNaviCtrl   FromNaviCtrl;
 125 
#define SPI_CMD_VERSION 0x02
72 
 
 126 
#define SPI_CMD_VALUE   0x03