| 0,0 → 1,139 |
|---|
| #ifndef _SPI_SLAVE_H |
| #define _SPI_SLAVE_H |
| |
| #include "fifo.h" |
| #include "gps.h" |
| |
| |
| #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_SERVOS 15 |
| #define SPI_FCCMD_ACCU 16 |
| |
| 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; |
| extern s16 FC_WP_EventChannel; |
| extern u32 ToFC_AltitudeRate; |
| extern s32 ToFC_AltitudeSetpoint; |
| extern u8 NC_GPS_ModeCharacter; |
| extern u8 FC_is_Calibrated; |
| extern u8 FCCalibActive; |
| /*extern u8 MotorCurrent[12]; |
| extern u8 MotorTemperature[12]; |
| extern u8 MotorState[12]; |
| extern u8 MotorMaxPwm[12]; |
| */ |
| extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
| 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; |
| 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 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 |
| |
| typedef struct |
| { |
| u8 Command; |
| GPS_Stick_t GPSStick; |
| s16 CompassHeading; |
| s16 AccErrorN; // s16 MagVecX; |
| s16 AccErrorR; // s16 MagVecY; |
| s16 MagVecZ; |
| s16 NCStatus; |
| 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; |
| } __attribute__((packed)) Motor_t; |
| |
| extern Motor_t Motor[12]; |
| |
| 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 u8 GPS_Aid_StickMultiplikator; |
| |
| void SPI0_Init(void); |
| void SPI0_GetFlightCtrlVersion(void); |
| void SPI0_UpdateBuffer(void); |
| |
| |
| |
| #endif //_SPI_SLAVE_H |