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_STARTING_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_READY          27

#define SPEAK_LOAD                      28

#define SPEAK_SAVE                      29

#define SPEAK_REDUNDANC_ON      30

#define SPEAK_REDUNDANC_OFF     31

#define SPEAK_NEXT_WP           32   // ?

#define SPEAK_REC_START         33

#define SPEAK_REC_STOP          34

#define SPEAK_OKAY                      35   // ?

#define SPEAK_WARNING           36   // ?

#define SPEAK_20M                       37   // ?

#define SPEAK_MK_OFF            38

#define SPEAK_ALTITUDE_ON       39

#define SPEAK_ALTITUDE_OFF      40

#define SPEAK_100M                      41   // ?

#define SPEAK_CONNECTED         42

#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_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 SPI_FCCMD_STICK2                21

#define SPI_FCCMD_STATUSTEXT    22

#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 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_dm;

extern u8 NC_GPS_ModeCharacter;

extern u8 FC_is_Calibrated;

extern u8 FCCalibActive;

extern u8 SpeakHoTT;

extern u8 NC_Wait_for_LED;

extern u8 CntSpiErrorPerSecond;

extern u8 ToFcBaudrateIndex; // 8 = 57600bd

#define MAX_RC_IN  16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved

extern s8 PPM_In[MAX_RC_IN];

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 u16 FlugMinutenGesamt;

extern u32 LoggingGasFilter, LoggingGasCnt;

extern u8 HoverGas;

extern s16 FromFlightCtrl_AccNick,FromFlightCtrl_AccRoll,FromFlightCtrl_GyroNick,FromFlightCtrl_GyroRoll;

extern u8 RequestConfigFromFC;

extern u8 SendOemName;

extern u8 CamCtrlCharacter;

extern s16      NickServoValue;

extern s16      FromFC_ServoRollControl;

extern s16      FromFC_ServoNickControl;

typedef struct

{

        u8   Command;

        s16  AngleNick;  // NickAngle in 0.1 deg

        s16  AngleRoll;  // RollAngle in 0.1 deg

        s16  GyroHeading; // Heading in 0.1 deg

        s16  GyroYaw;

        union

        {

                u8    Byte[22];

                s8        sByte[22];

                u16   Int[11];

                s16   sInt[11];

        } __attribute__((packed)) Param;

        u8 Chksum;

 } __attribute__((packed)) FromFlightCtrl_t;

#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 SPI_SERIAL_CH                   108

#define SPI_OEM_NAME                    109

#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

// bitcoding for EE_Parameter.ServoCompInvert

#define SERVO_NICK_INV 0x01

#define SERVO_ROLL_INV 0x02

#define SERVO_RELATIVE 0x04   //  direct poti control or relative moving of the servo value

#define CH_DIRECTION_1 0x08

#define CH_DIRECTION_2 0x10

//CH Orientation     ServoBits          0x08    0x10

// --> no change                        0       0

// --> front to starting point          0       1

// --> rear to to starting point        1       0

//-> start orientation                  1       1

typedef struct

{

        u8 Command;

        GPS_Stick_t GPSStick;

        s16 CompassHeading;

        s16 AccErrorN;

        s16 AccErrorR;

        union

        {

                u8    Byte[20];

                s8    sByte[20];

                u16       Int[10];

                s16   sInt[10];

                u32   Long[5];

                s32   sLong[5];

                float Float[5];

        } __attribute__((packed)) Param;

        u8 Chksum;

 } __attribute__((packed)) ToFlightCtrl_t;

typedef struct

{

        unsigned char Sync1,Sync2;

        unsigned char WhoAmI;

        unsigned char Data[200];

        unsigned char Chksum;

}__attribute__((packed)) str_HugeBlockFromFC;

extern str_HugeBlockFromFC HugeBlockFromFC;

typedef struct

{

        unsigned char Sync1,Sync2;

        unsigned char WhoAmI;

        unsigned char Data[200];

        unsigned char Chksum;

}__attribute__((packed)) str_HugeBlockToFC;

extern str_HugeBlockToFC HugeBlockToFC;

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;

extern u8 Out1TriggerUpdateNewData;

extern u8 LowVoltageLandingActive;

void SPI0_Init(void);

void SPI0_GetFlightCtrlVersion(void);

void SPI0_UpdateBuffer(void);

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

typedef struct

{

        unsigned char Revision;

        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3

        unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv

        unsigned char Hoehe_MinGas;           // Wert : 0-100

        unsigned char Luftdruck_D;            // Wert : 0-250

        unsigned char HoeheChannel;           // Wert : 0-32

        unsigned char Hoehe_P;                // Wert : 0-32

        unsigned char Hoehe_Verstaerkung;     // Wert : 0-50

        unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250

        unsigned char Hoehe_HoverBand;        // Wert : 0-250

        unsigned char Hoehe_TiltCompensation; // Wert : 0-250

        unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250

        unsigned char Stick_P;                // Wert : 1-6

        unsigned char Stick_D;                // Wert : 0-64

        unsigned char StickGier_P;            // Wert : 1-20

        unsigned char Gas_Min;                // Wert : 0-32

        unsigned char Gas_Max;                // Wert : 33-250

        unsigned char GyroAccFaktor;          // Wert : 1-64

        unsigned char KompassWirkung;         // Wert : 0-32

        unsigned char Gyro_P;                 // Wert : 10-250

        unsigned char Gyro_I;                 // Wert : 0-250

        unsigned char Gyro_D;                 // Wert : 0-250

        unsigned char Gyro_Gier_P;            // Wert : 10-250

        unsigned char Gyro_Gier_I;            // Wert : 0-250

        unsigned char Gyro_Stability;         // Wert : 0-16

        unsigned char UnterspannungsWarnung;  // Wert : 0-250

        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust

        unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen

        unsigned char Receiver;                   // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D

        unsigned char I_Faktor;               // Wert : 0-250

        unsigned char UserParam1;             // Wert : 0-250

        unsigned char UserParam2;             // Wert : 0-250

        unsigned char UserParam3;             // Wert : 0-250

        unsigned char UserParam4;             // Wert : 0-250

        unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos

        unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo

        unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag

        unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag

        //--- Seit V0.75

        unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos

        unsigned char ServoRollComp;          // Wert : 0-250

        unsigned char ServoRollMin;           // Wert : 0-250

        unsigned char ServoRollMax;           // Wert : 0-250

        //---

        unsigned char ServoNickRefresh;       // Speed of the Servo

    unsigned char ServoManualControlSpeed;//

    unsigned char CamOrientation;         //

        unsigned char Servo3;                    // Value or mapping of the Servo Output

        unsigned char Servo4;                            // Value or mapping of the Servo Output

        unsigned char Servo5;                            // Value or mapping of the Servo Output

        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping

        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag

        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag

        unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)

        unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden

        unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden

        unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt

        unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt

        unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)

        unsigned char Driftkomp;

        unsigned char DynamicStability;

        unsigned char UserParam5;             // Wert : 0-250

        unsigned char UserParam6;             // Wert : 0-250

        unsigned char UserParam7;             // Wert : 0-250

        unsigned char UserParam8;             // Wert : 0-250

        //---Output ---------------------------------------------

        unsigned char J16Bitmask;             // for the J16 Output

        unsigned char J16Timing;              // for the J16 Output

        unsigned char J17Bitmask;             // for the J17 Output

        unsigned char J17Timing;              // for the J17 Output

        // seit version V0.75c

        unsigned char WARN_J16_Bitmask;       // for the J16 Output

        unsigned char WARN_J17_Bitmask;       // for the J17 Output

        //---NaviCtrl---------------------------------------------

        unsigned char AutoPhotoDistance;      // Auto Photo

        unsigned char NaviGpsModeChannel;     // Parameters for the Naviboard

        unsigned char NaviGpsGain;

        unsigned char NaviGpsP;

        unsigned char NaviGpsI;

        unsigned char NaviGpsD;

        unsigned char NaviGpsPLimit;

        unsigned char NaviGpsILimit;

        unsigned char NaviGpsDLimit;

        unsigned char NaviGpsA;

        unsigned char NaviGpsMinSat;

        unsigned char NaviStickThreshold;

        unsigned char NaviWindCorrection;

        unsigned char NaviAccCompensation;    // New since 0.86 -> was: SpeedCompensation

        unsigned char NaviMaxFlyingRange;     // in 10m

        unsigned char NaviAngleLimitation;

        unsigned char NaviPH_LoginTime;

        unsigned char NaviDescendRange;

        //---Ext.Ctrl---------------------------------------------

        unsigned char ExternalControl;         // for serial Control

        //---CareFree---------------------------------------------

        unsigned char OrientationAngle;        // Where is the front-direction?

        unsigned char CareFreeChannel;     // switch for CareFree

    unsigned char MotorSafetySwitch;

    unsigned char MotorSmooth;

    unsigned char ComingHomeAltitude;

    unsigned char FailSafeTime;

    unsigned char MaxAltitude;

        unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"

        unsigned char ServoFilterNick;  

        unsigned char ServoFilterRoll;  

    unsigned char Servo3OnValue;

    unsigned char Servo3OffValue;

    unsigned char Servo4OnValue;

    unsigned char Servo4OffValue;

        unsigned char ServoFS_Pos[5];

        unsigned char StartLandChannel;  

        unsigned char LandingSpeed;  

        unsigned char CompassOffset;        

        unsigned char AutoLandingVoltage;   // in 0,1V  0 -> disabled

        unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled

        unsigned char AutoPhotoAtitudes;

        unsigned char SingleWpSpeed;

        unsigned char LandingPulse;

        unsigned char SingleWpControlChannel;

        unsigned char MenuKeyChannel;

    unsigned char CamCtrlModeChannel;

    unsigned char CamCtrlZoomChannel;

    unsigned char FailSafeAltitude;

    unsigned char GimbalYawChannel;

    unsigned char GimbalOut1Channel;

    unsigned char GimbalOut2Channel;

        unsigned char reserved[28];       // for later use

        //------------------------------------------------

        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt

        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen

        unsigned char ExtraConfig;        // bitcodiert

        unsigned char GlobalConfig3;      // bitcodiert

        char Name[12];

        unsigned char crc;                                // must be the last byte!

} __attribute__((packed)) paramset_t; // must be 179 bytes 

extern paramset_t EE_Parameter;

#endif //_SPI_SLAVE_H