Subversion Repositories FlightCtrl

Compare Revisions

Ignore whitespace Rev 1537 → Rev 1538

/branches/FC_076g_Code Redesign killagreg/spi.h
0,0 → 1,103
// ######################## 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
#define SPI_CMD_SERVOS 15
 
typedef struct
{
uint8_t Sync1;
uint8_t Sync2;
uint8_t Command;
int16_t IntegralNick;
int16_t IntegralRoll;
int16_t AccNick;
int16_t AccRoll;
int16_t GyroHeading;
int16_t GyroNick;
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 GPSStickNick;
int16_t GPSStickRoll;
int16_t GPS_Yaw;
int16_t CompassHeading;
int16_t Status;
uint16_t BeepTime;
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)) FromNaviCtrl_t;
 
 
typedef struct
{
uint8_t Major;
uint8_t Minor;
uint8_t Patch;
uint8_t Compatible;
} __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;
extern int8_t NCGpsZ;
 
void SPI_MasterInit(void);
void SPI_StartTransmitPacket(void);
void SPI_TransmitByte(void);
 
 
 
#endif //_SPI_H