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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | #ifndef _SPI_H |
| 2 | #define _SPI_H |
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| 3 | |||
| 4 | //#include <util/delay.h> |
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| 5 | #include <inttypes.h> |
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| 6 | #define SPI_PROTOCOL_COMP 1 |
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| 7 | |||
| 8 | #define SPI_CMD_USER 10 |
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| 9 | #define SPI_CMD_STICK 11 |
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| 10 | #define SPI_CMD_MISC 12 |
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| 11 | #define SPI_CMD_PARAMETER1 13 |
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| 12 | #define SPI_CMD_VERSION 14 |
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| 13 | #define SPI_CMD_OSD_DATA 100 |
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| 14 | #define SPI_CMD_GPS_POS 101 |
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| 15 | #define SPI_CMD_GPS_TARGET 102 |
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| 16 | #define SPI_KALMAN 103 |
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| 2035 | - | 17 | #define SPI_NCCMD_KALMAN 103 |
| 18 | #define SPI_NCCMD_VERSION 104 |
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| 19 | #define SPI_NCCMD_GPSINFO 105 |
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| 20 | #define SPI_NCCMD_HOTT_DATA 106 |
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| 21 | #define SPI_MISC 107 |
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| 1612 | dongfang | 22 | |
| 2035 | - | 23 | // Satfix types for GPSData.SatFix |
| 24 | #define SATFIX_NONE 0x00 |
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| 25 | #define SATFIX_DEADRECKOING 0x01 |
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| 26 | #define SATFIX_2D 0x02 |
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| 27 | #define SATFIX_3D 0x03 |
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| 28 | #define SATFIX_GPS_DEADRECKOING 0x04 |
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| 29 | #define SATFIX_TIMEONLY 0x05 |
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| 30 | // Flags for interpretation of the GPSData.Flags |
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| 31 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
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| 32 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
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| 33 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
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| 34 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
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| 35 | #define FLAG_GPS_NAVIGATION_ACTIVE 0x10 // NC to FC -> NC is ready to navigate |
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| 36 | |||
| 1645 | - | 37 | typedef struct { |
| 2035 | - | 38 | uint8_t sync1; |
| 39 | uint8_t sync2; |
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| 40 | uint8_t command; |
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| 41 | int16_t integralPitch; |
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| 42 | int16_t integralRoll; |
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| 43 | int16_t accPitch; |
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| 44 | int16_t accRoll; |
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| 45 | int16_t gyroHeading; |
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| 46 | int16_t gyroPitch; |
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| 47 | int16_t gyroRoll; |
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| 48 | int16_t gyroYaw; |
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| 49 | uint8_t FCStatus; |
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| 50 | union { |
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| 51 | int8_t asSignedByte[12]; |
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| 52 | uint8_t asByte[12]; |
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| 53 | int16_t asInt[6]; |
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| 54 | int32_t asLong[3]; |
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| 55 | float asFloat[3]; |
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| 56 | } param; |
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| 57 | uint8_t chksum; |
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| 58 | }__attribute__((packed)) ToNaviCtrl_t; |
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| 59 | |||
| 60 | typedef struct { |
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| 61 | uint8_t command; |
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| 1821 | - | 62 | int16_t GPSStickPitch; |
| 63 | int16_t GPSStickRoll; |
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| 2035 | - | 64 | int16_t GPSStickYaw; |
| 65 | int16_t accErrorPitch; |
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| 66 | int16_t accErrorRoll; |
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| 67 | int16_t magVectorZ; |
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| 68 | int16_t compassHeading; |
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| 69 | int16_t status; |
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| 70 | uint16_t beepTime; |
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| 1821 | - | 71 | union { |
| 2035 | - | 72 | int8_t asSignedByte[12]; |
| 73 | uint8_t asByte[12]; |
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| 74 | int16_t asSignedInt[6]; |
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| 75 | uint16_t asInt[6]; |
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| 76 | int32_t asSignedLong[3]; |
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| 77 | uint32_t asLong[3]; |
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| 78 | float asFloat[3]; |
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| 79 | } param; |
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| 80 | uint8_t chksum; |
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| 1821 | - | 81 | }__attribute__((packed)) FromNaviCtrl_t; |
| 1612 | dongfang | 82 | |
| 1645 | - | 83 | typedef struct { |
| 2035 | - | 84 | uint8_t major; |
| 85 | uint8_t minor; |
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| 86 | uint8_t patch; |
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| 87 | uint8_t compatible; |
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| 88 | uint8_t hardware; |
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| 1821 | - | 89 | }__attribute__((packed)) SPI_VersionInfo_t; |
| 1612 | dongfang | 90 | |
| 2035 | - | 91 | // Some of this is defined for compatibility with H&I NaviCtrl rather than necessity of the data... |
| 92 | typedef struct { |
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| 93 | int8_t kalmanK; |
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| 94 | int8_t kalmanMaxDrift; |
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| 95 | int8_t kalmanMaxFusion; |
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| 96 | uint8_t serialDataOkay; |
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| 97 | int8_t GPS_Z; |
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| 98 | }__attribute__((packed)) NCData_t; |
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| 99 | |||
| 100 | typedef struct { |
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| 101 | unsigned char flags; // Status Flags |
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| 102 | unsigned char numOfSats; // number of satelites |
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| 103 | unsigned char satFix; // type of satfix |
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| 104 | unsigned char speed; // m/sek |
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| 105 | unsigned int homeDistance; // distance to Home in dm |
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| 106 | int homeBearing; // bearing to home in deg |
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| 107 | }__attribute__((packed)) GPSInfo_t; |
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| 108 | |||
| 109 | extern SPI_VersionInfo_t naviCtrlVersion; |
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| 1821 | - | 110 | extern ToNaviCtrl_t toNaviCtrl; |
| 111 | extern FromNaviCtrl_t fromNaviCtrl; |
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| 2035 | - | 112 | extern NCData_t naviCtrlData; |
| 113 | extern GPSInfo_t GPSInfo; |
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| 1612 | dongfang | 114 | |
| 115 | extern uint8_t NCDataOkay; |
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| 116 | extern uint8_t NCSerialDataOkay; |
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| 117 | |||
| 118 | void SPI_MasterInit(void); |
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| 119 | void SPI_StartTransmitPacket(void); |
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| 120 | void SPI_TransmitByte(void); |
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| 121 | |||
| 122 | #endif //_SPI_H |