Subversion Repositories FlightCtrl

// ######################## SPI - FlightCtrl ###################
#ifndef _SPI_H
#define _SPI_H

#include <util/delay.h>
#include "vector.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;
        unsigned int FCStatus;
        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
#define SPI_NCCMD_HOTT_DATA             106
#define SPI_MISC                                107

struct str_FromNaviCtrl
{
        unsigned char Command;
        signed int  GPS_Nick;
        signed int  GPS_Roll;
        signed int  GPS_Gier;
        signed int  CompassValue;
//      signed int  MagVecX;
//      signed int  MagVecY;
        signed int AccErrorN;
        signed int AccErrorR;
        signed int  MagVecZ;
        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)
#define FLAG_GPS_NAVIGATION_ACTIVE      0x10 // NC to FC -> NC is ready to navigate

struct str_GPSInfo
{
        unsigned char   Flags;                  // Status Flags
        unsigned char   NumOfSats;              // number of satelites
        unsigned char   SatFix;                 // type of satfix
        unsigned char   Speed;                  // m/sek
        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 signed char FromNC_Rotate_C, FromNC_Rotate_S;
extern unsigned char NC_ErrorCode;
extern void SPI_MasterInit(void);
extern void SPI_StartTransmitPacket(void);
extern void UpdateSPI_Buffer(void);
extern void SPI_TransmitByte(void);
extern signed int POI_KameraNick;
extern unsigned char NC_GPS_ModeCharacter, NC_To_FC_Flags, NC_To_FC_MaxAltitude;
extern vector16_t MagVec;
extern unsigned char EarthMagneticField;
extern unsigned char EarthMagneticInclination,EarthMagneticInclinationTheoretic;
#else


// -------------------------------- Dummy -----------------------------------------
#define  SPI_MasterInit() ;
#define  SPI_StartTransmitPacket() ;
#define  UpdateSPI_Buffer() ;
#define  SPI_TransmitByte() ;
#endif


#endif