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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 | #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 | |||
| 1645 | - | 15 | typedef struct { |
| 1612 | dongfang | 16 | uint8_t Sync1; |
| 17 | uint8_t Sync2; |
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| 18 | uint8_t Command; |
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| 19 | int16_t IntegralNick; |
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| 20 | int16_t IntegralRoll; |
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| 21 | int16_t AccNick; |
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| 22 | int16_t AccRoll; |
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| 23 | int16_t GyroHeading; |
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| 24 | int16_t GyroNick; |
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| 25 | int16_t GyroRoll; |
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| 26 | int16_t GyroYaw; |
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| 1645 | - | 27 | union { |
| 1612 | dongfang | 28 | int8_t sByte[12]; |
| 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 | |||
| 1645 | - | 42 | typedef struct { |
| 1612 | dongfang | 43 | uint8_t Command; |
| 44 | int16_t GPSStickNick; |
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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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| 1645 | - | 50 | union { |
| 1612 | dongfang | 51 | int8_t Byte[12]; |
| 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 | |||
| 1645 | - | 60 | typedef struct { |
| 1612 | dongfang | 61 | uint8_t Major; |
| 62 | uint8_t Minor; |
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| 63 | uint8_t Patch; |
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| 64 | uint8_t Compatible; |
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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 | |||
| 1645 | - | 70 | typedef struct { |
| 1612 | dongfang | 71 | int8_t KalmanK; |
| 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 | |||
| 84 | #endif //_SPI_H |