WebSVN - NaviCtrl - Diff - Rev 329 and 330


#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;
 
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 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 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 DisableFC_Sticks;
 
void SPI0_Init(void);
void SPI0_GetFlightCtrlVersion(void);
void SPI0_UpdateBuffer(void);
 
 
 
#endif //_SPI_SLAVE_H
 

Rev 329	Rev 330
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_Kompass ;
19	extern s32 Kalman_MaxDrift;	20	extern s32 Kalman_MaxDrift;
20	extern s32 Kalman_MaxFusion;	21	extern s32 Kalman_MaxFusion;
21	extern s32 ToFcGpsZ;	22	extern s32 ToFcGpsZ;
22	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;	23	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
23	extern s32 HeadFreeStartAngle;	24	extern s32 HeadFreeStartAngle;
24	extern s16 FC_WP_EventChannel;	25	extern s16 FC_WP_EventChannel;
25	extern u32 ToFC_AltitudeRate;	26	extern u32 ToFC_AltitudeRate;
26	extern s32 ToFC_AltitudeSetpoint;	27	extern s32 ToFC_AltitudeSetpoint;
27	extern u8 NC_GPS_ModeCharacter;	28	extern u8 NC_GPS_ModeCharacter;
-		29	extern u8 FC_is_Calibrated;
-		30	extern u8 FCCalibActive;
-		31
28	typedef struct	32	typedef struct
29	{	33	{
30	u8 Command;	34	u8 Command;
31	s16 AngleNick; // NickAngle in 0.1 deg	35	s16 AngleNick; // NickAngle in 0.1 deg
32	s16 AngleRoll; // RollAngle in 0.1 deg	36	s16 AngleRoll; // RollAngle in 0.1 deg
33	s16 AccNick;	37	s16 AccNick;
34	s16 AccRoll;	38	s16 AccRoll;
35	s16 GyroHeading; // Heading in 0.1 deg	39	s16 GyroHeading; // Heading in 0.1 deg
36	s16 GyroNick;	40	s16 GyroNick;
37	s16 GyroRoll;	41	s16 GyroRoll;
38	s16 GyroYaw;	42	s16 GyroYaw;
39	u16 FCStatus;	43	u16 FCStatus;
40	union	44	union
41	{	45	{
42	u8 Byte[12];	46	u8 Byte[12];
43	s8 sByte[12];	47	s8 sByte[12];
44	u16 Int[6];	48	u16 Int[6];
45	s16 sInt[6];	49	s16 sInt[6];
46	u32 Long[3];	50	u32 Long[3];
47	s32 sLong[3];	51	s32 sLong[3];
48	float Float[3];	52	float Float[3];
49	} Param;	53	} Param;
50	u8 Chksum;	54	u8 Chksum;
51	} __attribute__((packed)) FromFlightCtrl_t;	55	} __attribute__((packed)) FromFlightCtrl_t;
52		56
53	#define SPI_NCCMD_OSD_DATA 100	57	#define SPI_NCCMD_OSD_DATA 100
54	#define SPI_NCCMD_GPS_POS 101	58	#define SPI_NCCMD_GPS_POS 101
55	#define SPI_NCCMD_GPS_TARGET 102	59	#define SPI_NCCMD_GPS_TARGET 102
56	#define SPI_NCCMD_KALMAN 103	60	#define SPI_NCCMD_KALMAN 103
57	#define SPI_NCCMD_VERSION 104	61	#define SPI_NCCMD_VERSION 104
58	#define SPI_NCCMD_GPSINFO 105	62	#define SPI_NCCMD_GPSINFO 105
59	#define SPI_NCCMD_HOTT_INFO 106	63	#define SPI_NCCMD_HOTT_INFO 106
60		64
61	#define HOTT_VARIO_PACKET_ID 0x89	65	#define HOTT_VARIO_PACKET_ID 0x89
62	#define HOTT_GPS_PACKET_ID 0x8A	66	#define HOTT_GPS_PACKET_ID 0x8A
63	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E	67	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E
-		68	#define HOTT_GENERAL_PACKET_ID 0x8D
64		69
65	typedef struct	70	typedef struct
66	{	71	{
67	u8 Command;	72	u8 Command;
68	GPS_Stick_t GPSStick;	73	GPS_Stick_t GPSStick;
69	s16 CompassHeading;	74	s16 CompassHeading;
70	s16 AccErrorN; // s16 MagVecX;	75	s16 AccErrorN; // s16 MagVecX;
71	s16 AccErrorR; // s16 MagVecY;	76	s16 AccErrorR; // s16 MagVecY;
72	s16 MagVecZ;	77	s16 MagVecZ;
73	s16 NCStatus;	78	s16 NCStatus;
74	u16 BeepTime;	79	u16 BeepTime;
75	union	80	union
76	{	81	{
77	u8 Byte[12];	82	u8 Byte[12];
78	s8 sByte[12];	83	s8 sByte[12];
79	u16 Int[6];	84	u16 Int[6];
80	s16 sInt[6];	85	s16 sInt[6];
81	u32 Long[3];	86	u32 Long[3];
82	s32 sLong[3];	87	s32 sLong[3];
83	float Float[3];	88	float Float[3];
84	}Param;	89	}Param;
85	u8 Chksum;	90	u8 Chksum;
86	} __attribute__((packed)) ToFlightCtrl_t;	91	} __attribute__((packed)) ToFlightCtrl_t;
87		92
88		93
89	typedef struct	94	typedef struct
90	{	95	{
91	u8 Major;	96	u8 Major;
92	u8 Minor;	97	u8 Minor;
93	u8 Patch;	98	u8 Patch;
94	u8 Compatible;	99	u8 Compatible;
95	u8 Hardware;	100	u8 Hardware;
96	} __attribute__((packed)) SPI_Version_t;	101	} __attribute__((packed)) SPI_Version_t;
97		102
98	extern FromFlightCtrl_t FromFlightCtrl;	103	extern FromFlightCtrl_t FromFlightCtrl;
99	extern ToFlightCtrl_t ToFlightCtrl;	104	extern ToFlightCtrl_t ToFlightCtrl;
100	extern volatile u32 SPI0_Timeout;	105	extern volatile u32 SPI0_Timeout;
101	extern SPI_Version_t FC_Version;	106	extern SPI_Version_t FC_Version;
102	extern u8 DisableFC_Sticks;	107	extern u8 DisableFC_Sticks;
103		108
104	void SPI0_Init(void);	109	void SPI0_Init(void);
105	void SPI0_GetFlightCtrlVersion(void);	110	void SPI0_GetFlightCtrlVersion(void);
106	void SPI0_UpdateBuffer(void);	111	void SPI0_UpdateBuffer(void);
107		112
108		113
109		114
110	#endif //_SPI_SLAVE_H	115	#endif //_SPI_SLAVE_H
111		116

Subversion Repositories NaviCtrl

(root)/tags/V2.20f/spi_slave.h @ 870 - Rev 329 → 330