Subversion Repositories FlightCtrl

// ######################## 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_CAL_COMPASS 12

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 Byte[12];

   int  Int[6];

   long Long[3];

   float Float[3];

 } Param;

 unsigned char Chksum;

};

#define SPI_CMD_OSD_DATA         100

#define SPI_CMD_GPS_POS          101

#define SPI_CMD_GPS_TARGET   102 

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 char BeepTime;

  union  

  { char Byte[12];

    int  Int[6];

    long Long[3];

    float Float[3];

  } Param;

  unsigned char Chksum;

};

#ifdef USE_SPI_COMMUNICATION

extern struct str_ToNaviCtrl   ToNaviCtrl;

extern struct str_FromNaviCtrl FromNaviCtrl;

//#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