| 0,0 → 1,395 |
|---|
| #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 |
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