WebSVN - NaviCtrl - Diff - Rev 559 and 573 - /tags/V2.07b_Beta/spi


#ifndef _SPI_SLAVE_H
#define _SPI_SLAVE_H
 
#include "fifo.h"
#include "gps.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_MK_OFF            38
#define SPEAK_ALTITUDE_ON       39
#define SPEAK_ALTITUDE_OFF      40
#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_SERVOS                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 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;
extern s16 FC_WP_EventChannel,LogFC_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 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;
 
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 NC_TO_FC_AUTOSTART                      0x04
#define NC_TO_FC_AUTOLANDING            0x08 // not used
#define NC_TO_FC_SIMULATION_ACTIVE      0x10 // don't start motors if simulation ist active
 
#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[12];
 
#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[12]; // 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;
 
void SPI0_Init(void);
void SPI0_GetFlightCtrlVersion(void);
void SPI0_UpdateBuffer(void);
u16 BL3_Current(u8 who); // in 0.1A
 
#endif //_SPI_SLAVE_H
 

Rev 559	Rev 573
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	#define SPEAK_ERR_CALIBARTION 1	7	#define SPEAK_ERR_CALIBARTION 1
8	#define SPEAK_ERR_RECEICER 2	8	#define SPEAK_ERR_RECEICER 2
9	#define SPEAK_ERR_DATABUS 3	9	#define SPEAK_ERR_DATABUS 3
10	#define SPEAK_ERR_NAVI 4	10	#define SPEAK_ERR_NAVI 4
11	#define SPEAK_ERROR 5	11	#define SPEAK_ERROR 5
12	#define SPEAK_ERR_COMPASS 6	12	#define SPEAK_ERR_COMPASS 6
13	#define SPEAK_ERR_SENSOR 7	13	#define SPEAK_ERR_SENSOR 7
14	#define SPEAK_ERR_GPS 8	14	#define SPEAK_ERR_GPS 8
15	#define SPEAK_ERR_MOTOR 9	15	#define SPEAK_ERR_MOTOR 9
16	#define SPEAK_MAX_TEMPERAT 10	16	#define SPEAK_MAX_TEMPERAT 10
17	#define SPEAK_ALTI_REACHED 11	17	#define SPEAK_ALTI_REACHED 11
18	#define SPEAK_WP_REACHED 12	18	#define SPEAK_WP_REACHED 12
19	#define SPEAK_NEXT_WP 13	19	#define SPEAK_NEXT_WP 13
20	#define SPEAK_LANDING 14	20	#define SPEAK_LANDING 14
21	#define SPEAK_GPS_FIX 15	21	#define SPEAK_GPS_FIX 15
22	#define SPEAK_UNDERVOLTAGE 16	22	#define SPEAK_UNDERVOLTAGE 16
23	#define SPEAK_GPS_HOLD 17	23	#define SPEAK_GPS_HOLD 17
24	#define SPEAK_GPS_HOME 18	24	#define SPEAK_GPS_HOME 18
25	#define SPEAK_GPS_OFF 19	25	#define SPEAK_GPS_OFF 19
26	#define SPEAK_BEEP 20	26	#define SPEAK_BEEP 20
27	#define SPEAK_MIKROKOPTER 21	27	#define SPEAK_MIKROKOPTER 21
28	#define SPEAK_CAPACITY 22	28	#define SPEAK_CAPACITY 22
29	#define SPEAK_CF_OFF 23	29	#define SPEAK_CF_OFF 23
30	#define SPEAK_CALIBRATE 24	30	#define SPEAK_CALIBRATE 24
31	#define SPEAK_MAX_RANGE 25	31	#define SPEAK_MAX_RANGE 25
32	#define SPEAK_MAX_ALTITUD 26	32	#define SPEAK_MAX_ALTITUD 26
33		33
34	#define SPEAK_MK_OFF 38	34	#define SPEAK_MK_OFF 38
35	#define SPEAK_ALTITUDE_ON 39	35	#define SPEAK_ALTITUDE_ON 39
36	#define SPEAK_ALTITUDE_OFF 40	36	#define SPEAK_ALTITUDE_OFF 40
37	#define SPEAK_CF_ON 46	37	#define SPEAK_CF_ON 46
38	#define SPEAK_SINKING 47	38	#define SPEAK_SINKING 47
39	#define SPEAK_RISING 48	39	#define SPEAK_RISING 48
40	#define SPEAK_HOLDING 49	40	#define SPEAK_HOLDING 49
41	#define SPEAK_GPS_ON 50	41	#define SPEAK_GPS_ON 50
42	#define SPEAK_FOLLWING 51	42	#define SPEAK_FOLLWING 51
43	#define SPEAK_STARTING 52	43	#define SPEAK_STARTING 52
44		44
45		45
46	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)	46	#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7)
47		47
48	#define SPI_FCCMD_USER 10	48	#define SPI_FCCMD_USER 10
49	#define SPI_FCCMD_STICK 11	49	#define SPI_FCCMD_STICK 11
50	#define SPI_FCCMD_MISC 12	50	#define SPI_FCCMD_MISC 12
51	#define SPI_FCCMD_PARAMETER1 13	51	#define SPI_FCCMD_PARAMETER1 13
52	#define SPI_FCCMD_VERSION 14	52	#define SPI_FCCMD_VERSION 14
53	#define SPI_FCCMD_SERVOS 15	53	#define SPI_FCCMD_SERVOS 15
54	#define SPI_FCCMD_BL_ACCU 16	54	#define SPI_FCCMD_BL_ACCU 16
55	#define SPI_FCCMD_PARAMETER2 17	55	#define SPI_FCCMD_PARAMETER2 17
-		56	#define SPI_FCCMD_NEUTRAL 18
-		57	#define SPI_FCCMD_SLOW 19 // kommt nicht vor
56		58
57	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }	59	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
58	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }	60	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
59		61
60	// devides only the Poti-value	62	// devides only the Poti-value
61	#define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; }	63	#define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; }
62	#define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); LIMIT_MIN_MAX(b, min, max); }	64	#define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); LIMIT_MIN_MAX(b, min, max); }
63		65
64	extern s32 Kalman_K;	66	extern s32 Kalman_K;
65	extern s32 Kalman_Kompass ;	67	extern s32 Kalman_Kompass ;
66	extern s32 Kalman_MaxDrift;	68	extern s32 Kalman_MaxDrift;
67	extern s32 Kalman_MaxFusion;	69	extern s32 Kalman_MaxFusion;
68	extern s32 ToFcGpsZ;	70	extern s32 ToFcGpsZ;
69	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;	71	extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
70	extern s32 HeadFreeStartAngle;	72	extern s32 HeadFreeStartAngle;
71	extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel;	73	extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel;
72	extern u32 ToFC_AltitudeRate;	74	extern u32 ToFC_AltitudeRate;
73	extern s32 ToFC_AltitudeSetpoint;	75	extern s32 ToFC_AltitudeSetpoint;
74	extern u8 NC_GPS_ModeCharacter;	76	extern u8 NC_GPS_ModeCharacter;
75	extern u8 FC_is_Calibrated;	77	extern u8 FC_is_Calibrated;
76	extern u8 FCCalibActive;	78	extern u8 FCCalibActive;
77	extern u8 SpeakHoTT;	79	extern u8 SpeakHoTT;
78	extern u8 NC_Wait_for_LED;	80	extern u8 NC_Wait_for_LED;
79	extern s16 GyroCompassCorrected;	81	extern s16 GyroCompassCorrected;
80	extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination	82	extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination
81	extern s16 CompassSetpoint;	83	extern s16 CompassSetpoint;
82	extern u8 AmountOfMotors;	84	extern u8 AmountOfMotors;
83	extern s16 SimulatedDirection; // simulated compass direction	85	extern s16 SimulatedDirection; // simulated compass direction
84		86
85	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power	87	extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power
86	extern u8 Logging_BL_MinOfMaxPWM;	88	extern u8 Logging_BL_MinOfMaxPWM;
87	extern u8 ErrorCheck_BL_MinOfMaxPWM;	89	extern u8 ErrorCheck_BL_MinOfMaxPWM;
88	extern u32 FC_I2C_ErrorConter;	90	extern u32 FC_I2C_ErrorConter;
89	extern u8 FromFC_VarioCharacter;	91	extern u8 FromFC_VarioCharacter;
90	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;	92	extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2;
91	extern s16 POI_KameraNick;	93	extern s16 POI_KameraNick;
92	extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;	94	extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;
93	extern u16 FlugMinutenGesamt;	95	extern u16 FlugMinutenGesamt;
94		96
95	typedef struct	97	typedef struct
96	{	98	{
97	u8 Command;	99	u8 Command;
98	s16 AngleNick; // NickAngle in 0.1 deg	100	s16 AngleNick; // NickAngle in 0.1 deg
99	s16 AngleRoll; // RollAngle in 0.1 deg	101	s16 AngleRoll; // RollAngle in 0.1 deg
100	s16 AccNick;	102	s16 AccNick;
101	s16 AccRoll;	103	s16 AccRoll;
102	s16 GyroHeading; // Heading in 0.1 deg	104	s16 GyroHeading; // Heading in 0.1 deg
103	s16 GyroNick;	105	s16 GyroNick;
104	s16 GyroRoll;	106	s16 GyroRoll;
105	s16 GyroYaw;	107	s16 GyroYaw;
106	u16 FCStatus;	108	u16 FCStatus;
107	union	109	union
108	{	110	{
109	u8 Byte[12];	111	u8 Byte[12];
110	s8 sByte[12];	112	s8 sByte[12];
111	u16 Int[6];	113	u16 Int[6];
112	s16 sInt[6];	114	s16 sInt[6];
113	u32 Long[3];	115	u32 Long[3];
114	s32 sLong[3];	116	s32 sLong[3];
115	float Float[3];	117	float Float[3];
116	} Param;	118	} Param;
117	u8 Chksum;	119	u8 Chksum;
118	} __attribute__((packed)) FromFlightCtrl_t;	120	} __attribute__((packed)) FromFlightCtrl_t;
119		121
120	//NC_To_FC_Flags	122	//NC_To_FC_Flags
121	#define NC_TO_FC_FLYING_RANGE 0x01	123	#define NC_TO_FC_FLYING_RANGE 0x01
122	#define NC_TO_FC_EMERGENCY_LANDING 0x02	124	#define NC_TO_FC_EMERGENCY_LANDING 0x02
123	#define NC_TO_FC_AUTOSTART 0x04	125	#define NC_TO_FC_AUTOSTART 0x04
124	#define NC_TO_FC_AUTOLANDING 0x08 // not used	126	#define NC_TO_FC_AUTOLANDING 0x08 // not used
125	#define NC_TO_FC_SIMULATION_ACTIVE 0x10 // don't start motors if simulation ist active	127	#define NC_TO_FC_SIMULATION_ACTIVE 0x10 // don't start motors if simulation ist active
126		128
127	#define SPI_NCCMD_OSD_DATA 100	129	#define SPI_NCCMD_OSD_DATA 100
128	#define SPI_NCCMD_GPS_POS 101	130	#define SPI_NCCMD_GPS_POS 101
129	#define SPI_NCCMD_GPS_TARGET 102	131	#define SPI_NCCMD_GPS_TARGET 102
130	#define SPI_NCCMD_KALMAN 103	132	#define SPI_NCCMD_KALMAN 103
131	#define SPI_NCCMD_VERSION 104	133	#define SPI_NCCMD_VERSION 104
132	#define SPI_NCCMD_GPSINFO 105	134	#define SPI_NCCMD_GPSINFO 105
133	#define SPI_NCCMD_HOTT_INFO 106	135	#define SPI_NCCMD_HOTT_INFO 106
134	#define SPI_MISC 107	136	#define SPI_MISC 107
135		137
136	#define HOTT_VARIO_PACKET_ID 0x89	138	#define HOTT_VARIO_PACKET_ID 0x89
137	#define HOTT_GPS_PACKET_ID 0x8A	139	#define HOTT_GPS_PACKET_ID 0x8A
138	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E	140	#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E
139	#define HOTT_GENERAL_PACKET_ID 0x8D	141	#define HOTT_GENERAL_PACKET_ID 0x8D
140	#define JETI_GPS_PACKET_ID1 0x01	142	#define JETI_GPS_PACKET_ID1 0x01
141	#define JETI_GPS_PACKET_ID2 0x02	143	#define JETI_GPS_PACKET_ID2 0x02
142	#define HOTT_WPL_NAME 0x03	144	#define HOTT_WPL_NAME 0x03
143		145
144	typedef struct	146	typedef struct
145	{	147	{
146	u8 Command;	148	u8 Command;
147	GPS_Stick_t GPSStick;	149	GPS_Stick_t GPSStick;
148	s16 MagVecX;	150	s16 MagVecX;
149	s16 CompassHeading;	151	s16 CompassHeading;
150	s16 AccErrorN;	152	s16 AccErrorN;
151	s16 AccErrorR;	153	s16 AccErrorR;
152	s16 MagVecY;	154	s16 MagVecY;
153	s16 MagVecZ;	155	s16 MagVecZ;
154	u16 BeepTime;	156	u16 BeepTime;
155	union	157	union
156	{	158	{
157	u8 Byte[12];	159	u8 Byte[12];
158	s8 sByte[12];	160	s8 sByte[12];
159	u16 Int[6];	161	u16 Int[6];
160	s16 sInt[6];	162	s16 sInt[6];
161	u32 Long[3];	163	u32 Long[3];
162	s32 sLong[3];	164	s32 sLong[3];
163	float Float[3];	165	float Float[3];
164	}Param;	166	}Param;
165	u8 Chksum;	167	u8 Chksum;
166	} __attribute__((packed)) ToFlightCtrl_t;	168	} __attribute__((packed)) ToFlightCtrl_t;
167		169
168	typedef struct	170	typedef struct
169	{	171	{
170	u8 Current;	172	u8 Current;
171	u8 Temperature;	173	u8 Temperature;
172	u8 MaxPWM;	174	u8 MaxPWM;
173	u8 State;	175	u8 State;
174	u8 NotReadyCnt;	176	u8 NotReadyCnt;
175	} __attribute__((packed)) Motor_t;	177	} __attribute__((packed)) Motor_t;
176		178
177	extern Motor_t Motor[12];	179	extern Motor_t Motor[12];
178		180
179	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01	181	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01
180	#define MOTOR_STATE_FAST_MODE 0x02	182	#define MOTOR_STATE_FAST_MODE 0x02
181	#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)	183	#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)
182	extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt	184	extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt
183		185
184		186
185		187
186	typedef struct	188	typedef struct
187	{	189	{
188	u8 Major;	190	u8 Major;
189	u8 Minor;	191	u8 Minor;
190	u8 Patch;	192	u8 Patch;
191	u8 Compatible;	193	u8 Compatible;
192	u8 Hardware;	194	u8 Hardware;
193	} __attribute__((packed)) SPI_Version_t;	195	} __attribute__((packed)) SPI_Version_t;
194		196
195	extern FromFlightCtrl_t FromFlightCtrl;	197	extern FromFlightCtrl_t FromFlightCtrl;
196	extern ToFlightCtrl_t ToFlightCtrl;	198	extern ToFlightCtrl_t ToFlightCtrl;
197	extern volatile u32 SPI0_Timeout;	199	extern volatile u32 SPI0_Timeout;
198	extern SPI_Version_t FC_Version;	200	extern SPI_Version_t FC_Version;
199	extern s16 GPS_Aid_StickMultiplikator;	201	extern s16 GPS_Aid_StickMultiplikator;
200	extern u8 CompassCalState;	202	extern u8 CompassCalState;
201		203
202	void SPI0_Init(void);	204	void SPI0_Init(void);
203	void SPI0_GetFlightCtrlVersion(void);	205	void SPI0_GetFlightCtrlVersion(void);
204	void SPI0_UpdateBuffer(void);	206	void SPI0_UpdateBuffer(void);
205	u16 BL3_Current(u8 who); // in 0.1A	207	u16 BL3_Current(u8 who); // in 0.1A
206		208
207	#endif //_SPI_SLAVE_H	209	#endif //_SPI_SLAVE_H
208		210

Subversion Repositories NaviCtrl

(root)/tags/V2.07b_Beta/spi_slave.h @ 811 - Rev 559 → 573