| 0,0 → 1,84 |
|---|
| #ifndef _SPI_SLAVE_H |
| #define _SPI_SLAVE_H |
| |
| #include "fifo.h" |
| |
| |
| #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
| |
| #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 |
| |
| extern s32 FC_Kalman_K; |
| extern s32 Kalman_MaxDrift; |
| extern s32 Kalman_MaxFusion; |
| 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; |
| union |
| { |
| s8 sByte[12]; |
| u8 Byte[12]; |
| s16 Int[6]; |
| s32 Long[3]; |
| float Float[3]; |
| } Param; |
| u8 Chksum; |
| } __attribute__((packed)) FromFlightCtrl_t; |
| |
| #define SPI_KALMAN 103 |
| |
| typedef struct |
| { |
| u8 Command; |
| s16 GPS_Nick; |
| s16 GPS_Roll; |
| s16 GPS_Yaw; |
| s16 CompassHeading; |
| s16 Status; |
| u16 BeepTime; |
| union |
| { |
| s8 sByte[12]; |
| u8 Byte[12]; |
| s16 Int[6]; |
| s32 Long[3]; |
| float Float[3]; |
| }Param; |
| u8 Chksum; |
| } __attribute__((packed)) ToFlightCtrl_t; |
| |
| |
| typedef struct |
| { |
| u8 Major; |
| u8 Minor; |
| u8 Patch; |
| u8 Compatible; |
| u8 Hardware; |
| } __attribute__((packed)) SPI_Version_t; |
| |
| extern volatile FromFlightCtrl_t FromFlightCtrl; |
| extern volatile ToFlightCtrl_t ToFlightCtrl; |
| extern SPI_Version_t FC_Version; |
| extern fifo_t CompassCalcStateFiFo; |
| extern u32 CheckSPIOkay; |
| |
| void SPI0_Init(void); |
| void SPI0_GetFlightCtrlVersion(void); |
| void SPI0_UpdateBuffer(void); |
| |
| |
| |
| #endif //_SPI_SLAVE_H |