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

struct str_ToNaviCtrl_Value
{
 unsigned char Sync1, Sync2;
 unsigned char Command;
 signed int IntegralNick;
 signed int  IntegralRoll;
 char StickNick,StickRoll,  
      StickGier, StickGas;
 signed int  GyroCompass;
 char User1, User2, User3, User4, User5, User6, User7, User8;
 unsigned char Chksum;
};

 struct str_ToNaviCtrl_Version
 {
  unsigned char Sync1, Sync2;
  unsigned char Command;
  unsigned char  HVersion;
  unsigned char  NVersion;
  unsigned char  Comp;
  unsigned char  d0;
  signed int  d1;
  signed int  d2;
  signed int  d3;
  signed int  d4;
  signed int  d5;
  signed int  d6;
  signed int  d7;
  unsigned char Chksum;
 };
 
struct str_FromNaviCtrl_Value
{
 unsigned char Command;
  signed int  GPS_Nick;
  signed int  GPS_Roll;
  signed int  GPS_Gier;
  signed int  GPS_Height;
  signed int  CompassValue;
  signed int  Status;
  signed int  d0;
  signed int  d1;
  signed int  d2;
  unsigned char Chksum;
};

 struct str_FromNaviCtrl_Version
 {
  unsigned char Command;
  unsigned char  HVersion;
  unsigned char  NVersion;
  unsigned char  Comp;
  unsigned char  d0;
  signed int  d1;
  signed int  d2;
  signed int  d3;
  signed int  d4;
  signed int  d5;
  signed int  d6;
  signed int  d7;
  unsigned char Chksum;
 };

#ifdef USE_SPI_COMMUNICATION
extern struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
extern struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;

extern struct str_ToNaviCtrl_Value   ToNaviCtrl_Value;
extern struct str_FromNaviCtrl_Value   FromNaviCtrl_Value;

#define SPI_CMD_VERSION 0x02
#define SPI_CMD_VALUE   0x03

extern void SPI_MasterInit(void);
extern void SPI_StartTransmitPacket(unsigned char command);
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