Subversion Repositories FlightCtrl

// ######################## SPI - FlightCtrl ###################

#ifndef _SPI_H

#define _SPI_H

//#include <util/delay.h>

#include <inttypes.h>

#define SPI_PROTOCOL_COMP   1

#define SPI_CMD_USER        10

#define SPI_CMD_STICK       11

#define SPI_CMD_MISC            12

#define SPI_CMD_PARAMETER1      13

#define SPI_CMD_VERSION         14

typedef struct {

  uint8_t Sync1;

  uint8_t Sync2;

  uint8_t Command;

  int16_t IntegralPitch;

  int16_t IntegralRoll;

  int16_t AccPitch;

  int16_t AccRoll;

  int16_t GyroHeading;

  int16_t GyroPitch;

  int16_t GyroRoll;

  int16_t GyroYaw;

  union {

    int8_t  sByte[12];

    uint8_t Byte[12];

    int16_t Int[6];

    int32_t Long[3];

    float   Float[3];

  } Param;

  uint8_t Chksum;

} __attribute__((packed)) ToNaviCtrl_t;

#define SPI_CMD_OSD_DATA        100

#define SPI_CMD_GPS_POS         101

#define SPI_CMD_GPS_TARGET      102

#define SPI_KALMAN                      103

typedef struct {

  uint8_t Command;

  int16_t GPSStickPitch;

  int16_t GPSStickRoll;

  int16_t GPS_Yaw;

  int16_t CompassHeading;

  int16_t Status;

  uint16_t BeepTime;

  union {

    int8_t  Byte[12];

    int16_t Int[6];

    int32_t Long[3];

    float   Float[3];

  } Param;

  uint8_t Chksum;

} __attribute__((packed)) FromNaviCtrl_t;

typedef struct {

  uint8_t Major;

  uint8_t Minor;

  uint8_t Patch;

  uint8_t Compatible;

  //    unsigned char Hardware;

} __attribute__((packed)) SPI_VersionInfo_t;

extern ToNaviCtrl_t                     toNaviCtrl;

extern FromNaviCtrl_t                   fromNaviCtrl;

typedef struct {

  int8_t        KalmanK;

  int8_t        KalmanMaxDrift;

  int8_t        KalmanMaxFusion;

  uint8_t       SerialDataOkay;

} __attribute__((packed)) NCData_t;

extern uint8_t NCDataOkay;

extern uint8_t NCSerialDataOkay;

void SPI_MasterInit(void);

void SPI_StartTransmitPacket(void);

void SPI_TransmitByte(void);

// new:

// extern void UpdateSPI_Buffer(void);

#endif //_SPI_H