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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 41 | ingob | 1 | #ifndef _SPI_SLAVE_H |
| 2 | #define _SPI_SLAVE_H |
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| 1 | ingob | 3 | |
| 41 | ingob | 4 | #include "fifo.h" |
| 1 | ingob | 5 | |
| 41 | ingob | 6 | |
| 1 | ingob | 7 | #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
| 8 | |||
| 41 | ingob | 9 | #define SPI_CMD_USER 10 |
| 10 | #define SPI_CMD_STICK 11 |
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| 11 | #define SPI_CMD_MISC 12 |
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| 12 | #define SPI_CMD_PARAMETER1 13 |
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| 13 | #define SPI_CMD_VERSION 14 |
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| 121 | killagreg | 14 | #define SPI_CMD_SERVOS 15 |
| 41 | ingob | 15 | |
| 16 | extern s32 FC_Kalman_K; |
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| 17 | extern s32 Kalman_MaxDrift; |
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| 18 | extern s32 Kalman_MaxFusion; |
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| 118 | killagreg | 19 | |
| 41 | ingob | 20 | typedef struct |
| 118 | killagreg | 21 | { |
| 22 | u8 Command; |
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| 23 | s16 AngleNick; // NickAngle in 0.1 deg |
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| 24 | s16 AngleRoll; // RollAngle in 0.1 deg |
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| 25 | s16 AccNick; |
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| 26 | s16 AccRoll; |
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| 27 | s16 GyroHeading; // Heading in 0.1 deg |
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| 28 | s16 GyroNick; |
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| 29 | s16 GyroRoll; |
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| 30 | s16 GyroYaw; |
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| 31 | union |
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| 32 | { |
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| 33 | s8 sByte[12]; |
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| 34 | u8 Byte[12]; |
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| 35 | s16 Int[6]; |
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| 36 | s32 Long[3]; |
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| 37 | float Float[3]; |
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| 38 | } Param; |
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| 39 | u8 Chksum; |
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| 41 | ingob | 40 | } __attribute__((packed)) FromFlightCtrl_t; |
| 41 | |||
| 1 | ingob | 42 | |
| 118 | killagreg | 43 | #define SPI_KALMAN 103 |
| 44 | |||
| 41 | ingob | 45 | typedef struct |
| 46 | { |
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| 47 | u8 Command; |
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| 48 | s16 GPS_Nick; |
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| 49 | s16 GPS_Roll; |
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| 50 | s16 GPS_Yaw; |
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| 51 | s16 CompassHeading; |
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| 52 | s16 Status; |
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| 53 | u16 BeepTime; |
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| 54 | union |
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| 55 | { |
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| 56 | s8 sByte[12]; |
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| 57 | u8 Byte[12]; |
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| 58 | s16 Int[6]; |
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| 59 | s32 Long[3]; |
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| 60 | float Float[3]; |
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| 61 | }Param; |
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| 62 | u8 Chksum; |
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| 63 | } __attribute__((packed)) ToFlightCtrl_t; |
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| 1 | ingob | 64 | |
| 65 | |||
| 41 | ingob | 66 | typedef struct |
| 1 | ingob | 67 | { |
| 41 | ingob | 68 | u8 Major; |
| 69 | u8 Minor; |
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| 70 | u8 Patch; |
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| 71 | u8 Compatible; |
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| 61 | holgerb | 72 | u8 Hardware; |
| 41 | ingob | 73 | } __attribute__((packed)) SPI_Version_t; |
| 1 | ingob | 74 | |
| 41 | ingob | 75 | extern volatile FromFlightCtrl_t FromFlightCtrl; |
| 76 | extern volatile ToFlightCtrl_t ToFlightCtrl; |
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| 146 | killagreg | 77 | extern volatile u32 SPI0_Timeout; |
| 41 | ingob | 78 | extern SPI_Version_t FC_Version; |
| 79 | extern fifo_t CompassCalcStateFiFo; |
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| 1 | ingob | 80 | |
| 41 | ingob | 81 | void SPI0_Init(void); |
| 82 | void SPI0_GetFlightCtrlVersion(void); |
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| 83 | void SPI0_UpdateBuffer(void); |
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| 1 | ingob | 84 | |
| 85 | |||
| 86 | |||
| 41 | ingob | 87 | #endif //_SPI_SLAVE_H |