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1 | // ######################## SPI - FlightCtrl ################### |
1 | // ######################## SPI - FlightCtrl ################### |
2 | #ifndef _SPI_H |
2 | #ifndef _SPI_H |
3 | #define _SPI_H |
3 | #define _SPI_H |
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- | 4 | ||
- | 5 | #include <util/delay.h> |
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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 |
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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 |
49 | 51 | ||
50 | struct str_ToNaviCtrl |
52 | struct str_ToNaviCtrl_Value |
51 | { |
53 | { |
52 | unsigned char Sync1, Sync2; |
54 | unsigned char Sync1, Sync2; |
53 | unsigned char Comp; |
55 | unsigned char Command; |
54 | int IntegralNick; |
56 | signed int IntegralNick; |
- | 57 | signed int IntegralRoll; |
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- | 58 | char StickNick,StickRoll, |
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- | 59 | StickGier, StickGas, |
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- | 60 | Poti1,Poti2, |
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- | 61 | Poti3,Poti4; |
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- | 62 | signed int GyroCompass; |
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55 | int IntegralRoll; |
63 | signed int d0; |
56 | char StickNick,StickRoll,StickGier; |
64 | signed int d1; |
Line -... | Line 65... | ||
- | 65 | unsigned char Chksum; |
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- | 66 | }; |
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- | 67 | ||
- | 68 | struct str_ToNaviCtrl_Version |
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- | 69 | { |
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- | 70 | unsigned char Sync1, Sync2; |
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- | 71 | unsigned char Command; |
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- | 72 | unsigned char HVersion; |
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- | 73 | unsigned char NVersion; |
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- | 74 | unsigned char Comp; |
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- | 75 | unsigned char d0; |
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- | 76 | signed int d1; |
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- | 77 | signed int d2; |
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- | 78 | signed int d3; |
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- | 79 | signed int d4; |
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- | 80 | signed int d5; |
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- | 81 | signed int d6; |
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- | 82 | signed int d7; |
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57 | unsigned char ChkSum; |
83 | unsigned char Chksum; |
58 | }; |
84 | }; |
59 | 85 | ||
- | 86 | struct str_FromNaviCtrl_Value |
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60 | struct str_FromNaviCtrl |
87 | { |
61 | { |
88 | unsigned char Command; |
62 | unsigned int Dummy; |
89 | signed int GPS_Nick; |
63 | unsigned char Comp; |
90 | signed int GPS_Roll; |
- | 91 | signed int GPS_Gier; |
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- | 92 | signed int GPS_Height; |
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- | 93 | signed int CompassValue; |
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- | 94 | signed int Status; |
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- | 95 | signed int d0; |
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64 | int GPS_Nick; |
96 | signed int d1; |
Line -... | Line 97... | ||
- | 97 | signed int d2; |
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- | 98 | unsigned char Chksum; |
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- | 99 | }; |
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- | 100 | ||
- | 101 | struct str_FromNaviCtrl_Version |
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- | 102 | { |
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- | 103 | unsigned char Command; |
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- | 104 | unsigned char HVersion; |
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- | 105 | unsigned char NVersion; |
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- | 106 | unsigned char Comp; |
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- | 107 | unsigned char d0; |
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- | 108 | signed int d1; |
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- | 109 | signed int d2; |
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- | 110 | signed int d3; |
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- | 111 | signed int d4; |
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- | 112 | signed int d5; |
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- | 113 | signed int d6; |
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65 | int GPS_Roll; |
114 | signed int d7; |
- | 115 | unsigned char Chksum; |
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- | 116 | }; |
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- | 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; |
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- | 121 | ||
Line 68... | Line 122... | ||
68 | 122 | extern struct str_ToNaviCtrl_Value ToNaviCtrl_Value; |
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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 |