Rev 205 | Rev 215 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
41 | ingob | 1 | #ifndef _SPI_SLAVE_H |
2 | #define _SPI_SLAVE_H |
||
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 | |||
202 | killagreg | 9 | #define SPI_FCCMD_USER 10 |
10 | #define SPI_FCCMD_STICK 11 |
||
11 | #define SPI_FCCMD_MISC 12 |
||
12 | #define SPI_FCCMD_PARAMETER1 13 |
||
13 | #define SPI_FCCMD_VERSION 14 |
||
14 | #define SPI_FCCMD_SERVOS 15 |
||
206 | killagreg | 15 | #define SPI_FCCMD_ACCU 16 |
41 | ingob | 16 | |
149 | killagreg | 17 | extern s32 Kalman_K; |
41 | ingob | 18 | extern s32 Kalman_MaxDrift; |
19 | extern s32 Kalman_MaxFusion; |
||
148 | holgerb | 20 | extern s32 ToFcGpsZ; |
118 | killagreg | 21 | |
41 | ingob | 22 | typedef struct |
118 | killagreg | 23 | { |
24 | u8 Command; |
||
25 | s16 AngleNick; // NickAngle in 0.1 deg |
||
26 | s16 AngleRoll; // RollAngle in 0.1 deg |
||
27 | s16 AccNick; |
||
28 | s16 AccRoll; |
||
29 | s16 GyroHeading; // Heading in 0.1 deg |
||
30 | s16 GyroNick; |
||
31 | s16 GyroRoll; |
||
32 | s16 GyroYaw; |
||
33 | union |
||
34 | { |
||
205 | killagreg | 35 | u8 Byte[12]; |
118 | killagreg | 36 | s8 sByte[12]; |
205 | killagreg | 37 | u16 Int[6]; |
38 | s16 sInt[6]; |
||
39 | u32 Long[3]; |
||
40 | s32 sLong[3]; |
||
118 | killagreg | 41 | float Float[3]; |
42 | } Param; |
||
43 | u8 Chksum; |
||
41 | ingob | 44 | } __attribute__((packed)) FromFlightCtrl_t; |
45 | |||
202 | killagreg | 46 | #define SPI_NCCMD_OSD_DATA 100 |
47 | #define SPI_NCCMD_GPS_POS 101 |
||
48 | #define SPI_NCCMD_GPS_TARGET 102 |
||
49 | #define SPI_NCCMD_KALMAN 103 |
||
50 | #define SPI_NCCMD_VERSION 104 |
||
204 | killagreg | 51 | #define SPI_NCCMD_GPSINFO 105 |
1 | ingob | 52 | |
41 | ingob | 53 | typedef struct |
54 | { |
||
55 | u8 Command; |
||
56 | s16 GPS_Nick; |
||
57 | s16 GPS_Roll; |
||
58 | s16 GPS_Yaw; |
||
59 | s16 CompassHeading; |
||
60 | s16 Status; |
||
61 | u16 BeepTime; |
||
62 | union |
||
63 | { |
||
205 | killagreg | 64 | u8 Byte[12]; |
41 | ingob | 65 | s8 sByte[12]; |
205 | killagreg | 66 | u16 Int[6]; |
67 | s16 sInt[6]; |
||
68 | u32 Long[3]; |
||
69 | s32 sLong[3]; |
||
41 | ingob | 70 | float Float[3]; |
71 | }Param; |
||
72 | u8 Chksum; |
||
73 | } __attribute__((packed)) ToFlightCtrl_t; |
||
1 | ingob | 74 | |
75 | |||
41 | ingob | 76 | typedef struct |
1 | ingob | 77 | { |
41 | ingob | 78 | u8 Major; |
79 | u8 Minor; |
||
80 | u8 Patch; |
||
81 | u8 Compatible; |
||
61 | holgerb | 82 | u8 Hardware; |
41 | ingob | 83 | } __attribute__((packed)) SPI_Version_t; |
1 | ingob | 84 | |
41 | ingob | 85 | extern volatile FromFlightCtrl_t FromFlightCtrl; |
86 | extern volatile ToFlightCtrl_t ToFlightCtrl; |
||
146 | killagreg | 87 | extern volatile u32 SPI0_Timeout; |
41 | ingob | 88 | extern SPI_Version_t FC_Version; |
89 | extern fifo_t CompassCalcStateFiFo; |
||
1 | ingob | 90 | |
41 | ingob | 91 | void SPI0_Init(void); |
92 | void SPI0_GetFlightCtrlVersion(void); |
||
93 | void SPI0_UpdateBuffer(void); |
||
1 | ingob | 94 | |
95 | |||
96 | |||
41 | ingob | 97 | #endif //_SPI_SLAVE_H |