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spi.h
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// ######################## 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
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 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)
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 vector16_t MagVec;
#else
// -------------------------------- Dummy -----------------------------------------
#define SPI_MasterInit() ;
#define SPI_StartTransmitPacket() ;
#define UpdateSPI_Buffer() ;
#define SPI_TransmitByte() ;
#endif
#endif