WebSVN - NaviCtrl - Diff - Rev 254 and 255


#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_MaxDrift;
extern s32 Kalman_MaxFusion;
extern s32 ToFcGpsZ;
extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
extern s32 HeadFreeStartAngle;
 
 
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
        {
                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
 
typedef struct
{
        u8 Command;
        GPS_Stick_t GPSStick;
        s16 CompassHeading;
        s16 Status;
        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 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;
 
void SPI0_Init(void);
void SPI0_GetFlightCtrlVersion(void);
void SPI0_UpdateBuffer(void);
 
 
 
#endif //_SPI_SLAVE_H
 

Rev 254	Rev 255
1	#ifndef _SPI_SLAVE_H	1	#ifndef _SPI_SLAVE_H
2	#define _SPI_SLAVE_H	2	#define _SPI_SLAVE_H
3		3
4	#include "fifo.h"	4	#include "fifo.h"
5	#include "gps.h"	5	#include "gps.h"
6		6
7		7
8	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)	8	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)
9		9
10	#define SPI_FCCMD_USER 10	10	#define SPI_FCCMD_USER 10
11	#define SPI_FCCMD_STICK 11	11	#define SPI_FCCMD_STICK 11
12	#define SPI_FCCMD_MISC 12	12	#define SPI_FCCMD_MISC 12
13	#define SPI_FCCMD_PARAMETER1 13	13	#define SPI_FCCMD_PARAMETER1 13
14	#define SPI_FCCMD_VERSION 14	14	#define SPI_FCCMD_VERSION 14
15	#define SPI_FCCMD_SERVOS 15	15	#define SPI_FCCMD_SERVOS 15
16	#define SPI_FCCMD_ACCU 16	16	#define SPI_FCCMD_ACCU 16
17		17
18	extern s32 Kalman_K;	18	extern s32 Kalman_K;
19	extern s32 Kalman_MaxDrift;	19	extern s32 Kalman_MaxDrift;
20	extern s32 Kalman_MaxFusion;	20	extern s32 Kalman_MaxFusion;
21	extern s32 ToFcGpsZ;	21	extern s32 ToFcGpsZ;
22	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;	22	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
23	extern s32 HeadFreeStartAngle;	23	extern s32 HeadFreeStartAngle;
24	extern volatile u8 FC_ErrorCode[5];	-
25		24
26	typedef struct	25	typedef struct
27	{	26	{
28	u8 Command;	27	u8 Command;
29	s16 AngleNick; // NickAngle in 0.1 deg	28	s16 AngleNick; // NickAngle in 0.1 deg
30	s16 AngleRoll; // RollAngle in 0.1 deg	29	s16 AngleRoll; // RollAngle in 0.1 deg
31	s16 AccNick;	30	s16 AccNick;
32	s16 AccRoll;	31	s16 AccRoll;
33	s16 GyroHeading; // Heading in 0.1 deg	32	s16 GyroHeading; // Heading in 0.1 deg
34	s16 GyroNick;	33	s16 GyroNick;
35	s16 GyroRoll;	34	s16 GyroRoll;
36	s16 GyroYaw;	35	s16 GyroYaw;
37	union	36	union
38	{	37	{
39	u8 Byte[12];	38	u8 Byte[12];
40	s8 sByte[12];	39	s8 sByte[12];
41	u16 Int[6];	40	u16 Int[6];
42	s16 sInt[6];	41	s16 sInt[6];
43	u32 Long[3];	42	u32 Long[3];
44	s32 sLong[3];	43	s32 sLong[3];
45	float Float[3];	44	float Float[3];
46	} Param;	45	} Param;
47	u8 Chksum;	46	u8 Chksum;
48	} __attribute__((packed)) FromFlightCtrl_t;	47	} __attribute__((packed)) FromFlightCtrl_t;
49		48
50	#define SPI_NCCMD_OSD_DATA 100	49	#define SPI_NCCMD_OSD_DATA 100
51	#define SPI_NCCMD_GPS_POS 101	50	#define SPI_NCCMD_GPS_POS 101
52	#define SPI_NCCMD_GPS_TARGET 102	51	#define SPI_NCCMD_GPS_TARGET 102
53	#define SPI_NCCMD_KALMAN 103	52	#define SPI_NCCMD_KALMAN 103
54	#define SPI_NCCMD_VERSION 104	53	#define SPI_NCCMD_VERSION 104
55	#define SPI_NCCMD_GPSINFO 105	54	#define SPI_NCCMD_GPSINFO 105
56		55
57	typedef struct	56	typedef struct
58	{	57	{
59	u8 Command;	58	u8 Command;
60	GPS_Stick_t GPSStick;	59	GPS_Stick_t GPSStick;
61	s16 CompassHeading;	60	s16 CompassHeading;
62	s16 Status;	61	s16 Status;
63	u16 BeepTime;	62	u16 BeepTime;
64	union	63	union
65	{	64	{
66	u8 Byte[12];	65	u8 Byte[12];
67	s8 sByte[12];	66	s8 sByte[12];
68	u16 Int[6];	67	u16 Int[6];
69	s16 sInt[6];	68	s16 sInt[6];
70	u32 Long[3];	69	u32 Long[3];
71	s32 sLong[3];	70	s32 sLong[3];
72	float Float[3];	71	float Float[3];
73	}Param;	72	}Param;
74	u8 Chksum;	73	u8 Chksum;
75	} __attribute__((packed)) ToFlightCtrl_t;	74	} __attribute__((packed)) ToFlightCtrl_t;
76		75
77		76
78	typedef struct	77	typedef struct
79	{	78	{
80	u8 Major;	79	u8 Major;
81	u8 Minor;	80	u8 Minor;
82	u8 Patch;	81	u8 Patch;
83	u8 Compatible;	82	u8 Compatible;
84	u8 Hardware;	83	u8 Hardware;
85	} __attribute__((packed)) SPI_Version_t;	84	} __attribute__((packed)) SPI_Version_t;
86		85
87	extern FromFlightCtrl_t FromFlightCtrl;	86	extern FromFlightCtrl_t FromFlightCtrl;
88	extern ToFlightCtrl_t ToFlightCtrl;	87	extern ToFlightCtrl_t ToFlightCtrl;
89	extern volatile u32 SPI0_Timeout;	88	extern volatile u32 SPI0_Timeout;
90	extern SPI_Version_t FC_Version;	89	extern SPI_Version_t FC_Version;
91		90
92	void SPI0_Init(void);	91	void SPI0_Init(void);
93	void SPI0_GetFlightCtrlVersion(void);	92	void SPI0_GetFlightCtrlVersion(void);
94	void SPI0_UpdateBuffer(void);	93	void SPI0_UpdateBuffer(void);
95		94
96		95
97		96
98	#endif //_SPI_SLAVE_H	97	#endif //_SPI_SLAVE_H
99		98

Subversion Repositories NaviCtrl

(root)/tags/V0.22a/spi_slave.h @ 262 - Rev 254 → 255