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Rev | Author | Line No. | Line |
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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" |
215 | killagreg | 5 | #include "gps.h" |
1 | ingob | 6 | |
41 | ingob | 7 | |
1 | ingob | 8 | #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
9 | |||
202 | killagreg | 10 | #define SPI_FCCMD_USER 10 |
11 | #define SPI_FCCMD_STICK 11 |
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12 | #define SPI_FCCMD_MISC 12 |
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13 | #define SPI_FCCMD_PARAMETER1 13 |
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14 | #define SPI_FCCMD_VERSION 14 |
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15 | #define SPI_FCCMD_SERVOS 15 |
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206 | killagreg | 16 | #define SPI_FCCMD_ACCU 16 |
41 | ingob | 17 | |
149 | killagreg | 18 | extern s32 Kalman_K; |
330 | holgerb | 19 | extern s32 Kalman_Kompass ; |
41 | ingob | 20 | extern s32 Kalman_MaxDrift; |
21 | extern s32 Kalman_MaxFusion; |
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148 | holgerb | 22 | extern s32 ToFcGpsZ; |
222 | holgerb | 23 | extern s32 ToFC_Rotate_C, ToFC_Rotate_S; |
24 | extern s32 HeadFreeStartAngle; |
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277 | killagreg | 25 | extern s16 FC_WP_EventChannel; |
286 | killagreg | 26 | extern u32 ToFC_AltitudeRate; |
285 | holgerb | 27 | extern s32 ToFC_AltitudeSetpoint; |
323 | holgerb | 28 | extern u8 NC_GPS_ModeCharacter; |
330 | holgerb | 29 | extern u8 FC_is_Calibrated; |
30 | extern u8 FCCalibActive; |
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31 | |||
41 | ingob | 32 | typedef struct |
118 | killagreg | 33 | { |
34 | u8 Command; |
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35 | s16 AngleNick; // NickAngle in 0.1 deg |
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36 | s16 AngleRoll; // RollAngle in 0.1 deg |
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37 | s16 AccNick; |
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38 | s16 AccRoll; |
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280 | killagreg | 39 | s16 GyroHeading; // Heading in 0.1 deg |
118 | killagreg | 40 | s16 GyroNick; |
41 | s16 GyroRoll; |
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42 | s16 GyroYaw; |
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284 | killagreg | 43 | u16 FCStatus; |
118 | killagreg | 44 | union |
45 | { |
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205 | killagreg | 46 | u8 Byte[12]; |
118 | killagreg | 47 | s8 sByte[12]; |
205 | killagreg | 48 | u16 Int[6]; |
49 | s16 sInt[6]; |
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50 | u32 Long[3]; |
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51 | s32 sLong[3]; |
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118 | killagreg | 52 | float Float[3]; |
53 | } Param; |
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54 | u8 Chksum; |
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41 | ingob | 55 | } __attribute__((packed)) FromFlightCtrl_t; |
56 | |||
202 | killagreg | 57 | #define SPI_NCCMD_OSD_DATA 100 |
58 | #define SPI_NCCMD_GPS_POS 101 |
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59 | #define SPI_NCCMD_GPS_TARGET 102 |
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60 | #define SPI_NCCMD_KALMAN 103 |
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61 | #define SPI_NCCMD_VERSION 104 |
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204 | killagreg | 62 | #define SPI_NCCMD_GPSINFO 105 |
329 | holgerb | 63 | #define SPI_NCCMD_HOTT_INFO 106 |
1 | ingob | 64 | |
329 | holgerb | 65 | #define HOTT_VARIO_PACKET_ID 0x89 |
66 | #define HOTT_GPS_PACKET_ID 0x8A |
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67 | #define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E |
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330 | holgerb | 68 | #define HOTT_GENERAL_PACKET_ID 0x8D |
329 | holgerb | 69 | |
41 | ingob | 70 | typedef struct |
71 | { |
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72 | u8 Command; |
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215 | killagreg | 73 | GPS_Stick_t GPSStick; |
41 | ingob | 74 | s16 CompassHeading; |
327 | holgerb | 75 | s16 AccErrorN; // s16 MagVecX; |
76 | s16 AccErrorR; // s16 MagVecY; |
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286 | killagreg | 77 | s16 MagVecZ; |
284 | killagreg | 78 | s16 NCStatus; |
41 | ingob | 79 | u16 BeepTime; |
80 | union |
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81 | { |
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205 | killagreg | 82 | u8 Byte[12]; |
41 | ingob | 83 | s8 sByte[12]; |
205 | killagreg | 84 | u16 Int[6]; |
85 | s16 sInt[6]; |
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86 | u32 Long[3]; |
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87 | s32 sLong[3]; |
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41 | ingob | 88 | float Float[3]; |
89 | }Param; |
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90 | u8 Chksum; |
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91 | } __attribute__((packed)) ToFlightCtrl_t; |
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1 | ingob | 92 | |
93 | |||
41 | ingob | 94 | typedef struct |
1 | ingob | 95 | { |
41 | ingob | 96 | u8 Major; |
97 | u8 Minor; |
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98 | u8 Patch; |
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99 | u8 Compatible; |
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61 | holgerb | 100 | u8 Hardware; |
41 | ingob | 101 | } __attribute__((packed)) SPI_Version_t; |
1 | ingob | 102 | |
215 | killagreg | 103 | extern FromFlightCtrl_t FromFlightCtrl; |
104 | extern ToFlightCtrl_t ToFlightCtrl; |
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146 | killagreg | 105 | extern volatile u32 SPI0_Timeout; |
41 | ingob | 106 | extern SPI_Version_t FC_Version; |
331 | holgerb | 107 | extern u8 GPS_Aid_StickMultiplikator; |
1 | ingob | 108 | |
41 | ingob | 109 | void SPI0_Init(void); |
110 | void SPI0_GetFlightCtrlVersion(void); |
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111 | void SPI0_UpdateBuffer(void); |
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1 | ingob | 112 | |
113 | |||
114 | |||
41 | ingob | 115 | #endif //_SPI_SLAVE_H |