Subversion Repositories NaviCtrl

#ifndef _SPI_SLAVE_H

#define _SPI_SLAVE_H

#include "fifo.h"

#include "gps.h"

#include "main.h"

#define SPEAK_ERR_CALIBARTION  1

#define SPEAK_ERR_RECEICER       2

#define SPEAK_ERR_DATABUS        3

#define SPEAK_ERR_NAVI           4

#define SPEAK_ERROR                      5

#define SPEAK_ERR_COMPASS        6

#define SPEAK_ERR_SENSOR         7

#define SPEAK_ERR_GPS            8

#define SPEAK_ERR_MOTOR          9

#define SPEAK_MAX_TEMPERAT  10

#define SPEAK_ALTI_REACHED  11

#define SPEAK_WP_REACHED    12

#define SPEAK_NEXT_WP       13

#define SPEAK_LANDING       14

#define SPEAK_GPS_FIX       15

#define SPEAK_UNDERVOLTAGE  16

#define SPEAK_GPS_HOLD      17

#define SPEAK_GPS_HOME      18

#define SPEAK_GPS_OFF       19

#define SPEAK_BEEP          20

#define SPEAK_MIKROKOPTER   21

#define SPEAK_CAPACITY      22

#define SPEAK_CF_OFF        23

#define SPEAK_CALIBRATE     24

#define SPEAK_MAX_RANGE     25

#define SPEAK_MAX_ALTITUD   26

#define SPEAK_MK_OFF            38

#define SPEAK_ALTITUDE_ON       39

#define SPEAK_ALTITUDE_OFF      40

#define SPEAK_CF_ON             46

#define SPEAK_SINKING           47

#define SPEAK_RISING            48

#define SPEAK_HOLDING           49

#define SPEAK_GPS_ON            50

#define SPEAK_FOLLWING          51

#define SPEAK_STARTING      52

#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)

#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_SLOW3                 15

#define SPI_FCCMD_BL_ACCU               16

#define SPI_FCCMD_PARAMETER2    17

#define SPI_FCCMD_NEUTRAL               18

#define SPI_FCCMD_SLOW                  19 //  kommt nicht vor

#define SPI_FCCMD_SLOW2                 20

#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }

#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }

// devides only the Poti-value

#define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; }

#define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); LIMIT_MIN_MAX(b, min, max); }

extern s32 Kalman_K;

extern s32 Kalman_Kompass ;

extern s32 Kalman_MaxDrift;

extern s32 Kalman_MaxFusion;

extern s32 ToFcGpsZ;

extern s32 ToFC_Rotate_C, ToFC_Rotate_S;

extern s32 HeadFreeStartAngle,CompassDirectionAtMotorStart;

extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel,FC_WP_EventChannel_Processed;

extern u32 ToFC_AltitudeRate;

extern s32 ToFC_AltitudeSetpoint;

extern u8 NC_GPS_ModeCharacter;

extern u8 FC_is_Calibrated;

extern u8 FCCalibActive;

extern u8 SpeakHoTT;

extern u8 NC_Wait_for_LED;

extern s16 GyroCompassCorrected;

extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination

extern s16 CompassSetpoint;

extern u8 AmountOfMotors;

extern s16 SimulatedDirection;    // simulated compass direction

extern u8 BL_MinOfMaxPWM;  // indication if all BL-controllers run on full power

extern u8 Logging_BL_MinOfMaxPWM;

extern u8 ErrorCheck_BL_MinOfMaxPWM;

extern u32 FC_I2C_ErrorConter;

extern u8 FromFC_VarioCharacter;

extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;

extern s16 POI_KameraNick;

extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;

extern u16 FlugMinutenGesamt;

extern u32 LoggingGasFilter, LoggingGasCnt;

extern u8 HoverGas;

typedef struct

{

        u8   Command;

        s16  AngleNick;  // NickAngle in 0.1 deg

        s16  AngleRoll;  // RollAngle in 0.1 deg

        s16  AccNick;

        s16  AccRoll;

        s16  GyroHeading; // Heading in 0.1 deg

        s16  GyroNick;

        s16  GyroRoll;

        s16  GyroYaw;

        u16  FCStatus;

        union

        {

                u8    Byte[12];

                s8        sByte[12];

                u16   Int[6];

                s16   sInt[6];

                u32   Long[3];

                s32   sLong[3];

                float Float[3];

        } Param;

        u8 Chksum;

 } __attribute__((packed)) FromFlightCtrl_t;

//NC_To_FC_Flags

#define NC_TO_FC_FLYING_RANGE           0x01

#define NC_TO_FC_EMERGENCY_LANDING      0x02

#define NC_TO_FC_AUTOSTART                      0x04

#define NC_TO_FC_AUTOLANDING            0x08 // not used

#define NC_TO_FC_SIMULATION_ACTIVE      0x10 // don't start motors if simulation ist active

#define SPI_NCCMD_OSD_DATA              100

#define SPI_NCCMD_GPS_POS               101

#define SPI_NCCMD_GPS_TARGET    102

#define SPI_NCCMD_KALMAN                103

#define SPI_NCCMD_VERSION               104

#define SPI_NCCMD_GPSINFO               105

#define SPI_NCCMD_HOTT_INFO             106

#define SPI_MISC                                107

#define HOTT_VARIO_PACKET_ID            0x89

#define HOTT_GPS_PACKET_ID                      0x8A

#define HOTT_ELECTRIC_AIR_PACKET_ID     0x8E

#define HOTT_GENERAL_PACKET_ID          0x8D

#define JETI_GPS_PACKET_ID1                     0x01

#define JETI_GPS_PACKET_ID2                     0x02

#define HOTT_WPL_NAME                           0x03

typedef struct

{

        u8 Command;

        GPS_Stick_t GPSStick;

        s16 MagVecX;

        s16 CompassHeading;

        s16 AccErrorN;

        s16 AccErrorR;

        s16 MagVecY;

        s16 MagVecZ;

        u16 BeepTime;

        union

        {

                u8    Byte[12];

                s8    sByte[12];

                u16       Int[6];

                s16   sInt[6];

                u32   Long[3];

                s32   sLong[3];

                float Float[3];

        }Param;

        u8 Chksum;

 } __attribute__((packed)) ToFlightCtrl_t;

typedef struct

{

 u8 Current;

 u8 Temperature;

 u8 MaxPWM;

 u8 State;

 u8 NotReadyCnt;

} __attribute__((packed)) Motor_t;

extern Motor_t Motor[MAX_MOTORS];

#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01

#define MOTOR_STATE_FAST_MODE           0x02

#define MOTOR_STATE_BL30                0x04   // extended Current measurement -> 200 = 20A    201 = 21A    255 = 75A (20+55)

extern u8 Motor_Version[MAX_MOTORS]; // das kann nicht in die struct, weil der PC die Struktur bekommt

typedef struct

{

   u8 Major;

   u8 Minor;

   u8 Patch;

   u8 Compatible;

   u8 Hardware;

} __attribute__((packed)) SPI_Version_t;

extern FromFlightCtrl_t   FromFlightCtrl;

extern ToFlightCtrl_t     ToFlightCtrl;

extern volatile u32 SPI0_Timeout;

extern SPI_Version_t FC_Version;

extern s16 GPS_Aid_StickMultiplikator;

extern u8 CompassCalState;

void SPI0_Init(void);

void SPI0_GetFlightCtrlVersion(void);

void SPI0_UpdateBuffer(void);

u16 BL3_Current(u8 who); // in 0.1A

#endif //_SPI_SLAVE_H