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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 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 | |||
| 8 | |||
| 9 | #define SPI_PROTOCOL_COMP 1 |
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| 10 | |||
| 11 | |||
| 12 | #define SPI_CMD_USER 10 |
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| 13 | #define SPI_CMD_STICK 11 |
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| 14 | #define SPI_CMD_MISC 12 |
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| 15 | #define SPI_CMD_PARAMETER1 13 |
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| 16 | #define SPI_CMD_VERSION 14 |
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| 17 | |||
| 18 | typedef struct |
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| 19 | { |
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| 20 | uint8_t Sync1; |
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| 21 | uint8_t Sync2; |
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| 22 | uint8_t Command; |
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| 23 | int16_t IntegralNick; |
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| 24 | int16_t IntegralRoll; |
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| 25 | int16_t AccNick; |
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| 26 | int16_t AccRoll; |
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| 27 | int16_t GyroHeading; |
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| 28 | int16_t GyroNick; |
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| 29 | int16_t GyroRoll; |
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| 30 | int16_t GyroYaw; |
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| 31 | union |
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| 32 | { |
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| 33 | int8_t sByte[12]; |
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| 34 | uint8_t Byte[12]; |
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| 35 | int16_t Int[6]; |
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| 36 | int32_t Long[3]; |
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| 37 | float Float[3]; |
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| 38 | } Param; |
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| 39 | uint8_t Chksum; |
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| 40 | } __attribute__((packed)) ToNaviCtrl_t; |
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| 41 | |||
| 42 | |||
| 43 | |||
| 44 | #define SPI_CMD_OSD_DATA 100 |
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| 45 | #define SPI_CMD_GPS_POS 101 |
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| 46 | #define SPI_CMD_GPS_TARGET 102 |
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| 47 | #define SPI_KALMAN 103 |
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| 48 | |||
| 49 | typedef struct |
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| 50 | { |
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| 51 | uint8_t Command; |
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| 52 | int16_t GPSStickNick; |
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| 53 | int16_t GPSStickRoll; |
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| 54 | int16_t GPS_Yaw; |
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| 55 | int16_t CompassHeading; |
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| 56 | int16_t Status; |
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| 57 | uint16_t BeepTime; |
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| 58 | union |
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| 59 | { |
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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 | |||
| 69 | typedef struct |
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| 70 | { |
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| 71 | uint8_t Major; |
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| 72 | uint8_t Minor; |
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| 73 | uint8_t Patch; |
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| 74 | uint8_t Compatible; |
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| 75 | } __attribute__((packed)) SPI_VersionInfo_t; |
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| 76 | |||
| 77 | |||
| 78 | extern ToNaviCtrl_t ToNaviCtrl; |
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| 79 | extern FromNaviCtrl_t FromNaviCtrl; |
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| 80 | |||
| 81 | |||
| 82 | typedef struct |
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| 83 | { |
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| 84 | int8_t KalmanK; |
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| 85 | int8_t KalmanMaxDrift; |
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| 86 | int8_t KalmanMaxFusion; |
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| 87 | uint8_t SerialDataOkay; |
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| 88 | } __attribute__((packed)) NCData_t; |
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| 89 | |||
| 90 | |||
| 91 | extern uint8_t NCDataOkay; |
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| 92 | extern uint8_t NCSerialDataOkay; |
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| 93 | |||
| 94 | void SPI_MasterInit(void); |
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| 95 | void SPI_StartTransmitPacket(void); |
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| 96 | void SPI_TransmitByte(void); |
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| 97 | |||
| 98 | |||
| 99 | |||
| 100 | #endif //_SPI_H |