| 0,0 → 1,210 |
|---|
| #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_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_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; |
| |
| #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; |
| 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 |
| |
| #endif //_SPI_SLAVE_H |