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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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338 | holgerb | 31 | extern u8 MotorCurrent[12]; |
32 | extern u8 MotorTemperature[12]; |
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33 | extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
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34 | extern u32 FC_I2C_ErrorConter; |
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35 | extern u8 FromFC_VarioCharacter; |
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36 | extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2; |
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351 | holgerb | 37 | extern s16 POI_KameraNick; |
38 | extern u8 NC_To_FC_Flags; |
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41 | ingob | 39 | typedef struct |
118 | killagreg | 40 | { |
41 | u8 Command; |
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42 | s16 AngleNick; // NickAngle in 0.1 deg |
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43 | s16 AngleRoll; // RollAngle in 0.1 deg |
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44 | s16 AccNick; |
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45 | s16 AccRoll; |
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280 | killagreg | 46 | s16 GyroHeading; // Heading in 0.1 deg |
118 | killagreg | 47 | s16 GyroNick; |
48 | s16 GyroRoll; |
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49 | s16 GyroYaw; |
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284 | killagreg | 50 | u16 FCStatus; |
118 | killagreg | 51 | union |
52 | { |
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205 | killagreg | 53 | u8 Byte[12]; |
118 | killagreg | 54 | s8 sByte[12]; |
205 | killagreg | 55 | u16 Int[6]; |
56 | s16 sInt[6]; |
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57 | u32 Long[3]; |
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58 | s32 sLong[3]; |
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118 | killagreg | 59 | float Float[3]; |
60 | } Param; |
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61 | u8 Chksum; |
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41 | ingob | 62 | } __attribute__((packed)) FromFlightCtrl_t; |
63 | |||
351 | holgerb | 64 | //NC_To_FC_Flags |
65 | #define NC_TO_FC_FLYING_RANGE 0x01 |
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66 | #define NC_TO_FC_EMERGENCY_LANDING 0x02 |
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67 | |||
202 | killagreg | 68 | #define SPI_NCCMD_OSD_DATA 100 |
69 | #define SPI_NCCMD_GPS_POS 101 |
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70 | #define SPI_NCCMD_GPS_TARGET 102 |
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71 | #define SPI_NCCMD_KALMAN 103 |
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72 | #define SPI_NCCMD_VERSION 104 |
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204 | killagreg | 73 | #define SPI_NCCMD_GPSINFO 105 |
329 | holgerb | 74 | #define SPI_NCCMD_HOTT_INFO 106 |
342 | holgerb | 75 | #define SPI_MISC 107 |
1 | ingob | 76 | |
329 | holgerb | 77 | #define HOTT_VARIO_PACKET_ID 0x89 |
78 | #define HOTT_GPS_PACKET_ID 0x8A |
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79 | #define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E |
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330 | holgerb | 80 | #define HOTT_GENERAL_PACKET_ID 0x8D |
329 | holgerb | 81 | |
41 | ingob | 82 | typedef struct |
83 | { |
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84 | u8 Command; |
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215 | killagreg | 85 | GPS_Stick_t GPSStick; |
41 | ingob | 86 | s16 CompassHeading; |
327 | holgerb | 87 | s16 AccErrorN; // s16 MagVecX; |
88 | s16 AccErrorR; // s16 MagVecY; |
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286 | killagreg | 89 | s16 MagVecZ; |
284 | killagreg | 90 | s16 NCStatus; |
41 | ingob | 91 | u16 BeepTime; |
92 | union |
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93 | { |
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205 | killagreg | 94 | u8 Byte[12]; |
41 | ingob | 95 | s8 sByte[12]; |
205 | killagreg | 96 | u16 Int[6]; |
97 | s16 sInt[6]; |
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98 | u32 Long[3]; |
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99 | s32 sLong[3]; |
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41 | ingob | 100 | float Float[3]; |
101 | }Param; |
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102 | u8 Chksum; |
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103 | } __attribute__((packed)) ToFlightCtrl_t; |
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1 | ingob | 104 | |
105 | |||
41 | ingob | 106 | typedef struct |
1 | ingob | 107 | { |
41 | ingob | 108 | u8 Major; |
109 | u8 Minor; |
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110 | u8 Patch; |
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111 | u8 Compatible; |
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61 | holgerb | 112 | u8 Hardware; |
41 | ingob | 113 | } __attribute__((packed)) SPI_Version_t; |
1 | ingob | 114 | |
215 | killagreg | 115 | extern FromFlightCtrl_t FromFlightCtrl; |
116 | extern ToFlightCtrl_t ToFlightCtrl; |
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146 | killagreg | 117 | extern volatile u32 SPI0_Timeout; |
41 | ingob | 118 | extern SPI_Version_t FC_Version; |
331 | holgerb | 119 | extern u8 GPS_Aid_StickMultiplikator; |
1 | ingob | 120 | |
41 | ingob | 121 | void SPI0_Init(void); |
122 | void SPI0_GetFlightCtrlVersion(void); |
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123 | void SPI0_UpdateBuffer(void); |
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1 | ingob | 124 | |
125 | |||
126 | |||
41 | ingob | 127 | #endif //_SPI_SLAVE_H |