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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1775 | - | 1 | //void NC_update(void); |
| 2 | //int16_t* NC_getPRTY(void); |
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| 3 | //uint8_t NC_getArgument(void); |
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| 4 | //uint8_t NC_getCommand(void); |
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| 5 | //int16_t NC_getVariable(uint8_t varNum); |
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| 6 | //void NC_calibrate(void); |
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| 7 | //uint8_t NC_getSignalQuality (void); |
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| 8 | //void NC_setNeutral(void); |
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| 9 | |||
| 10 | // ######################## SPI - FlightCtrl ################### |
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| 11 | #ifndef _NAVICONTROL_H |
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| 12 | #define _NAVICONTROL_H |
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| 13 | |||
| 14 | //#include <util/delay.h> |
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| 15 | #include <inttypes.h> |
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| 16 | #define SPI_PROTOCOL_COMP 1 |
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| 17 | |||
| 18 | #define SPI_CMD_USER 10 |
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| 19 | #define SPI_CMD_STICK 11 |
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| 20 | #define SPI_CMD_MISC 12 |
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| 21 | #define SPI_CMD_PARAMETER1 13 |
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| 22 | #define SPI_CMD_VERSION 14 |
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| 23 | |||
| 24 | typedef struct { |
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| 25 | uint8_t Sync1; |
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| 26 | uint8_t Sync2; |
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| 27 | uint8_t Command; |
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| 28 | int16_t IntegralPitch; |
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| 29 | int16_t IntegralRoll; |
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| 30 | int16_t AccPitch; |
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| 31 | int16_t AccRoll; |
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| 32 | int16_t GyroHeading; |
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| 33 | int16_t GyroPitch; |
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| 34 | int16_t GyroRoll; |
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| 35 | int16_t GyroYaw; |
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| 36 | union { |
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| 37 | int8_t sByte[12]; |
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| 38 | uint8_t Byte[12]; |
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| 39 | int16_t Int[6]; |
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| 40 | int32_t Long[3]; |
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| 41 | float Float[3]; |
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| 42 | } Param; |
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| 43 | uint8_t Chksum; |
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| 44 | } __attribute__((packed)) ToNaviCtrl_t; |
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| 45 | |||
| 46 | #define SPI_CMD_OSD_DATA 100 |
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| 47 | #define SPI_CMD_GPS_POS 101 |
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| 48 | #define SPI_CMD_GPS_TARGET 102 |
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| 49 | #define SPI_KALMAN 103 |
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| 50 | |||
| 51 | typedef struct { |
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| 52 | uint8_t Command; |
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| 53 | int16_t GPSStickPitch; |
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| 54 | int16_t GPSStickRoll; |
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| 55 | int16_t GPS_Yaw; |
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| 56 | int16_t CompassHeading; |
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| 57 | int16_t Status; |
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| 58 | uint16_t BeepTime; |
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| 59 | union { |
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| 60 | int8_t Byte[12]; |
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| 61 | int16_t Int[6]; |
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| 62 | int32_t Long[3]; |
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| 63 | float Float[3]; |
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| 64 | } Param; |
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| 65 | uint8_t Chksum; |
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| 66 | } __attribute__((packed)) FromNaviCtrl_t; |
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| 67 | |||
| 68 | typedef struct { |
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| 69 | uint8_t Major; |
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| 70 | uint8_t Minor; |
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| 71 | uint8_t Patch; |
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| 72 | uint8_t Compatible; |
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| 73 | // unsigned char Hardware; |
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| 74 | } __attribute__((packed)) SPI_VersionInfo_t; |
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| 75 | |||
| 76 | extern ToNaviCtrl_t toNaviCtrl; |
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| 77 | extern FromNaviCtrl_t fromNaviCtrl; |
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| 78 | |||
| 79 | typedef struct { |
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| 80 | int8_t KalmanK; |
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| 81 | int8_t KalmanMaxDrift; |
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| 82 | int8_t KalmanMaxFusion; |
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| 83 | uint8_t SerialDataOkay; |
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| 84 | } __attribute__((packed)) NCData_t; |
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| 85 | |||
| 86 | extern uint8_t NCDataOkay; |
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| 87 | extern uint8_t NCSerialDataOkay; |
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| 88 | |||
| 89 | void SPI_MasterInit(void); |
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| 90 | void SPI_StartTransmitPacket(void); |
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| 91 | void SPI_TransmitByte(void); |
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| 92 | // new: |
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| 93 | // extern void UpdateSPI_Buffer(void); |
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| 94 | |||
| 95 | #endif //_NAVICONTROL_H |