Rev 1539 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1538 | killagreg | 1 | // ######################## SPI - FlightCtrl ################### |
| 2 | #ifndef _SPI_H |
||
| 3 | #define _SPI_H |
||
| 4 | |||
| 5 | //#include <util/delay.h> |
||
| 6 | #include <inttypes.h> |
||
| 7 | |||
| 8 | |||
| 9 | #define SPI_PROTOCOL_COMP 1 |
||
| 10 | |||
| 11 | |||
| 12 | #define SPI_CMD_USER 10 |
||
| 13 | #define SPI_CMD_STICK 11 |
||
| 14 | #define SPI_CMD_MISC 12 |
||
| 15 | #define SPI_CMD_PARAMETER1 13 |
||
| 16 | #define SPI_CMD_VERSION 14 |
||
| 17 | #define SPI_CMD_SERVOS 15 |
||
| 18 | |||
| 19 | typedef struct |
||
| 20 | { |
||
| 21 | uint8_t Sync1; |
||
| 22 | uint8_t Sync2; |
||
| 23 | uint8_t Command; |
||
| 24 | int16_t IntegralNick; |
||
| 25 | int16_t IntegralRoll; |
||
| 26 | int16_t AccNick; |
||
| 27 | int16_t AccRoll; |
||
| 28 | int16_t GyroHeading; |
||
| 29 | int16_t GyroNick; |
||
| 30 | int16_t GyroRoll; |
||
| 31 | int16_t GyroYaw; |
||
| 32 | union |
||
| 33 | { |
||
| 34 | int8_t sByte[12]; |
||
| 35 | uint8_t Byte[12]; |
||
| 36 | int16_t Int[6]; |
||
| 37 | int32_t Long[3]; |
||
| 38 | float Float[3]; |
||
| 39 | } Param; |
||
| 40 | uint8_t Chksum; |
||
| 41 | } __attribute__((packed)) ToNaviCtrl_t; |
||
| 42 | |||
| 43 | |||
| 44 | |||
| 45 | #define SPI_CMD_OSD_DATA 100 |
||
| 46 | #define SPI_CMD_GPS_POS 101 |
||
| 47 | #define SPI_CMD_GPS_TARGET 102 |
||
| 48 | #define SPI_KALMAN 103 |
||
| 49 | |||
| 50 | typedef struct |
||
| 51 | { |
||
| 52 | uint8_t Command; |
||
| 53 | int16_t GPSStickNick; |
||
| 54 | int16_t GPSStickRoll; |
||
| 55 | int16_t GPS_Yaw; |
||
| 56 | int16_t CompassHeading; |
||
| 57 | int16_t Status; |
||
| 58 | uint16_t BeepTime; |
||
| 59 | union |
||
| 60 | { |
||
| 61 | int8_t sByte[12]; |
||
| 62 | uint8_t Byte[12]; |
||
| 63 | int16_t Int[6]; |
||
| 64 | int32_t Long[3]; |
||
| 65 | float Float[3]; |
||
| 66 | } Param; |
||
| 67 | uint8_t Chksum; |
||
| 68 | } __attribute__((packed)) FromNaviCtrl_t; |
||
| 69 | |||
| 70 | |||
| 71 | typedef struct |
||
| 72 | { |
||
| 73 | uint8_t Major; |
||
| 74 | uint8_t Minor; |
||
| 75 | uint8_t Patch; |
||
| 76 | uint8_t Compatible; |
||
| 77 | } __attribute__((packed)) SPI_VersionInfo_t; |
||
| 78 | |||
| 79 | |||
| 80 | extern ToNaviCtrl_t ToNaviCtrl; |
||
| 81 | extern FromNaviCtrl_t FromNaviCtrl; |
||
| 82 | |||
| 83 | |||
| 84 | typedef struct |
||
| 85 | { |
||
| 86 | int8_t KalmanK; |
||
| 87 | int8_t KalmanMaxDrift; |
||
| 88 | int8_t KalmanMaxFusion; |
||
| 89 | uint8_t SerialDataOkay; |
||
| 90 | } __attribute__((packed)) NCData_t; |
||
| 91 | |||
| 92 | |||
| 93 | extern uint8_t NCDataOkay; |
||
| 94 | extern uint8_t NCSerialDataOkay; |
||
| 95 | extern int8_t NCGpsZ; |
||
| 96 | |||
| 97 | void SPI_MasterInit(void); |
||
| 98 | void SPI_StartTransmitPacket(void); |
||
| 99 | void SPI_TransmitByte(void); |
||
| 100 | |||
| 101 | |||
| 102 | |||
| 103 | #endif //_SPI_H |