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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 41 | ingob | 1 | #ifndef _SPI_SLAVE_H |
| 2 | #define _SPI_SLAVE_H |
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| 1 | ingob | 3 | |
| 41 | ingob | 4 | #include "fifo.h" |
| 1 | ingob | 5 | |
| 41 | ingob | 6 | |
| 1 | ingob | 7 | #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
| 8 | |||
| 41 | ingob | 9 | #define SPI_PROTOCOL_COMP 2 |
| 1 | ingob | 10 | |
| 41 | ingob | 11 | #define SPI_CMD_USER 10 |
| 12 | #define SPI_CMD_STICK 11 |
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| 13 | #define SPI_CMD_MISC 12 |
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| 14 | #define SPI_CMD_PARAMETER1 13 |
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| 15 | #define SPI_CMD_VERSION 14 |
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| 16 | |||
| 17 | extern s32 FC_Kalman_K; |
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| 18 | extern s32 Kalman_MaxDrift; |
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| 19 | extern s32 Kalman_MaxFusion; |
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| 20 | typedef struct |
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| 1 | ingob | 21 | { |
| 22 | u8 Command; |
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| 23 | s16 IntegralNick; |
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| 24 | s16 IntegralRoll; |
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| 25 | s16 AccNick; |
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| 26 | s16 AccRoll; |
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| 41 | ingob | 27 | s16 GyroHeading; |
| 1 | ingob | 28 | s16 GyroNick; |
| 29 | s16 GyroRoll; |
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| 41 | ingob | 30 | s16 GyroYaw; |
| 31 | union |
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| 32 | { |
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| 33 | s8 sByte[12]; |
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| 34 | u8 Byte[12]; |
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| 35 | s16 Int[6]; |
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| 36 | s32 Long[3]; |
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| 1 | ingob | 37 | float Float[3]; |
| 38 | } Param; |
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| 39 | u8 Chksum; |
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| 41 | ingob | 40 | } __attribute__((packed)) FromFlightCtrl_t; |
| 41 | |||
| 42 | #define SPI_KALMAN 103 |
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| 1 | ingob | 43 | |
| 41 | ingob | 44 | typedef struct |
| 45 | { |
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| 46 | u8 Command; |
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| 47 | s16 GPS_Nick; |
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| 48 | s16 GPS_Roll; |
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| 49 | s16 GPS_Yaw; |
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| 50 | s16 CompassHeading; |
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| 51 | s16 Status; |
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| 52 | u16 BeepTime; |
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| 53 | union |
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| 54 | { |
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| 55 | s8 sByte[12]; |
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| 56 | u8 Byte[12]; |
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| 57 | s16 Int[6]; |
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| 58 | s32 Long[3]; |
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| 59 | float Float[3]; |
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| 60 | }Param; |
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| 61 | u8 Chksum; |
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| 62 | } __attribute__((packed)) ToFlightCtrl_t; |
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| 1 | ingob | 63 | |
| 64 | |||
| 41 | ingob | 65 | typedef struct |
| 1 | ingob | 66 | { |
| 41 | ingob | 67 | u8 Major; |
| 68 | u8 Minor; |
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| 69 | u8 Patch; |
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| 70 | u8 Compatible; |
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| 71 | } __attribute__((packed)) SPI_Version_t; |
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| 1 | ingob | 72 | |
| 41 | ingob | 73 | extern volatile FromFlightCtrl_t FromFlightCtrl; |
| 74 | extern volatile ToFlightCtrl_t ToFlightCtrl; |
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| 75 | extern SPI_Version_t FC_Version; |
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| 76 | extern fifo_t CompassCalcStateFiFo; |
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| 77 | extern u32 CheckSPIOkay; |
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| 1 | ingob | 78 | |
| 41 | ingob | 79 | void SPI0_Init(void); |
| 80 | void SPI0_GetFlightCtrlVersion(void); |
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| 81 | void SPI0_UpdateBuffer(void); |
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| 1 | ingob | 82 | |
| 83 | |||
| 84 | |||
| 41 | ingob | 85 | #endif //_SPI_SLAVE_H |