Subversion Repositories FlightCtrl

Rev

Rev 1612 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1612 dongfang 1
// ######################## SPI - FlightCtrl ###################
2
#ifndef _SPI_H
3
#define _SPI_H
4
 
5
//#include <util/delay.h>
6
#include <inttypes.h>
7
#define SPI_PROTOCOL_COMP   1
8
 
9
#define SPI_CMD_USER        10
10
#define SPI_CMD_STICK       11
11
#define SPI_CMD_MISC            12
12
#define SPI_CMD_PARAMETER1      13
13
#define SPI_CMD_VERSION         14
14
 
1645 - 15
typedef struct {
1612 dongfang 16
        uint8_t Sync1;
17
        uint8_t Sync2;
18
        uint8_t Command;
19
        int16_t IntegralNick;
20
        int16_t IntegralRoll;
21
        int16_t AccNick;
22
        int16_t AccRoll;
23
        int16_t GyroHeading;
24
        int16_t GyroNick;
25
        int16_t GyroRoll;
26
        int16_t GyroYaw;
1645 - 27
        union {
1612 dongfang 28
                int8_t  sByte[12];
29
                uint8_t Byte[12];
30
                int16_t Int[6];
31
                int32_t Long[3];
32
                float   Float[3];
33
        } Param;
34
        uint8_t Chksum;
35
} __attribute__((packed)) ToNaviCtrl_t;
36
 
37
#define SPI_CMD_OSD_DATA        100
38
#define SPI_CMD_GPS_POS         101
39
#define SPI_CMD_GPS_TARGET      102
40
#define SPI_KALMAN                      103
41
 
1645 - 42
typedef struct {
1612 dongfang 43
        uint8_t Command;
44
        int16_t GPSStickNick;
45
        int16_t GPSStickRoll;
46
        int16_t GPS_Yaw;
47
        int16_t CompassHeading;
48
        int16_t Status;
49
        uint16_t BeepTime;
1645 - 50
        union {
1612 dongfang 51
                int8_t  Byte[12];
52
                int16_t Int[6];
53
                int32_t Long[3];
54
                float   Float[3];
55
        } Param;
56
        uint8_t Chksum;
57
} __attribute__((packed)) FromNaviCtrl_t;
58
 
59
 
1645 - 60
typedef struct {
1612 dongfang 61
        uint8_t Major;
62
        uint8_t Minor;
63
        uint8_t Patch;
64
        uint8_t Compatible;
65
} __attribute__((packed)) SPI_VersionInfo_t;
66
 
67
extern ToNaviCtrl_t                     ToNaviCtrl;
68
extern FromNaviCtrl_t                   FromNaviCtrl;
69
 
1645 - 70
typedef struct {
1612 dongfang 71
        int8_t  KalmanK;
72
        int8_t  KalmanMaxDrift;
73
        int8_t  KalmanMaxFusion;
74
        uint8_t SerialDataOkay;
75
} __attribute__((packed)) NCData_t;
76
 
77
extern uint8_t NCDataOkay;
78
extern uint8_t NCSerialDataOkay;
79
 
80
void SPI_MasterInit(void);
81
void SPI_StartTransmitPacket(void);
82
void SPI_TransmitByte(void);
83
 
84
#endif //_SPI_H