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1775 | - | 1 | // ######################## SPI - FlightCtrl ################### |
2 | #ifndef _SPI_H |
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3 | #define _SPI_H |
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4 | |||
5 | //#include <util/delay.h> |
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6 | #include <inttypes.h> |
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7 | #define SPI_PROTOCOL_COMP 1 |
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8 | |||
9 | #define SPI_CMD_USER 10 |
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10 | #define SPI_CMD_STICK 11 |
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11 | #define SPI_CMD_MISC 12 |
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12 | #define SPI_CMD_PARAMETER1 13 |
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13 | #define SPI_CMD_VERSION 14 |
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14 | |||
15 | typedef struct { |
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16 | uint8_t Sync1; |
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17 | uint8_t Sync2; |
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18 | uint8_t Command; |
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19 | int16_t IntegralPitch; |
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20 | int16_t IntegralRoll; |
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21 | int16_t AccPitch; |
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22 | int16_t AccRoll; |
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23 | int16_t GyroHeading; |
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24 | int16_t GyroPitch; |
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25 | int16_t GyroRoll; |
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26 | int16_t GyroYaw; |
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27 | union { |
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28 | int8_t sByte[12]; |
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29 | uint8_t Byte[12]; |
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30 | int16_t Int[6]; |
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31 | int32_t Long[3]; |
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32 | float Float[3]; |
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33 | } Param; |
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34 | uint8_t Chksum; |
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35 | } __attribute__((packed)) ToNaviCtrl_t; |
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36 | |||
37 | #define SPI_CMD_OSD_DATA 100 |
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38 | #define SPI_CMD_GPS_POS 101 |
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39 | #define SPI_CMD_GPS_TARGET 102 |
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40 | #define SPI_KALMAN 103 |
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41 | |||
42 | typedef struct { |
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43 | uint8_t Command; |
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44 | int16_t GPSStickPitch; |
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45 | int16_t GPSStickRoll; |
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46 | int16_t GPS_Yaw; |
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47 | int16_t CompassHeading; |
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48 | int16_t Status; |
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49 | uint16_t BeepTime; |
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50 | union { |
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51 | int8_t Byte[12]; |
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52 | int16_t Int[6]; |
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53 | int32_t Long[3]; |
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54 | float Float[3]; |
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55 | } Param; |
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56 | uint8_t Chksum; |
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57 | } __attribute__((packed)) FromNaviCtrl_t; |
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58 | |||
59 | typedef struct { |
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60 | uint8_t Major; |
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61 | uint8_t Minor; |
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62 | uint8_t Patch; |
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63 | uint8_t Compatible; |
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64 | // unsigned char Hardware; |
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65 | } __attribute__((packed)) SPI_VersionInfo_t; |
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66 | |||
67 | extern ToNaviCtrl_t toNaviCtrl; |
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68 | extern FromNaviCtrl_t fromNaviCtrl; |
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69 | |||
70 | typedef struct { |
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71 | int8_t KalmanK; |
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72 | int8_t KalmanMaxDrift; |
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73 | int8_t KalmanMaxFusion; |
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74 | uint8_t SerialDataOkay; |
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75 | } __attribute__((packed)) NCData_t; |
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76 | |||
77 | extern uint8_t NCDataOkay; |
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78 | extern uint8_t NCSerialDataOkay; |
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79 | |||
80 | void SPI_MasterInit(void); |
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81 | void SPI_StartTransmitPacket(void); |
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82 | void SPI_TransmitByte(void); |
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83 | // new: |
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84 | // extern void UpdateSPI_Buffer(void); |
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85 | |||
86 | #endif //_SPI_H |