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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 | |
486 | holgerb | 7 | #define SPEAK_ERR_CALIBARTION 1 |
8 | #define SPEAK_ERR_RECEICER 2 |
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9 | #define SPEAK_ERR_DATABUS 3 |
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10 | #define SPEAK_ERR_NAVI 4 |
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11 | #define SPEAK_ERROR 5 |
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12 | #define SPEAK_ERR_COMPASS 6 |
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13 | #define SPEAK_ERR_SENSOR 7 |
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14 | #define SPEAK_ERR_GPS 8 |
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15 | #define SPEAK_ERR_MOTOR 9 |
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16 | #define SPEAK_MAX_TEMPERAT 10 |
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17 | #define SPEAK_ALTI_REACHED 11 |
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18 | #define SPEAK_WP_REACHED 12 |
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19 | #define SPEAK_NEXT_WP 13 |
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20 | #define SPEAK_LANDING 14 |
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21 | #define SPEAK_GPS_FIX 15 |
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22 | #define SPEAK_UNDERVOLTAGE 16 |
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23 | #define SPEAK_GPS_HOLD 17 |
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24 | #define SPEAK_GPS_HOME 18 |
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25 | #define SPEAK_GPS_OFF 19 |
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26 | #define SPEAK_BEEP 20 |
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27 | #define SPEAK_MIKROKOPTER 21 |
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28 | #define SPEAK_CAPACITY 22 |
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29 | #define SPEAK_CF_OFF 23 |
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397 | holgerb | 30 | #define SPEAK_CALIBRATE 24 |
486 | holgerb | 31 | #define SPEAK_MAX_RANGE 25 |
32 | #define SPEAK_MAX_ALTITUD 26 |
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33 | |||
34 | #define SPEAK_MK_OFF 38 |
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35 | #define SPEAK_ALTITUDE_ON 39 |
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36 | #define SPEAK_ALTITUDE_OFF 40 |
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397 | holgerb | 37 | #define SPEAK_CF_ON 46 |
486 | holgerb | 38 | #define SPEAK_SINKING 47 |
39 | #define SPEAK_RISING 48 |
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40 | #define SPEAK_HOLDING 49 |
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397 | holgerb | 41 | #define SPEAK_GPS_ON 50 |
486 | holgerb | 42 | #define SPEAK_FOLLWING 51 |
43 | #define SPEAK_STARTING 52 |
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41 | ingob | 44 | |
397 | holgerb | 45 | |
1 | ingob | 46 | #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
47 | |||
202 | killagreg | 48 | #define SPI_FCCMD_USER 10 |
49 | #define SPI_FCCMD_STICK 11 |
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50 | #define SPI_FCCMD_MISC 12 |
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51 | #define SPI_FCCMD_PARAMETER1 13 |
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52 | #define SPI_FCCMD_VERSION 14 |
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53 | #define SPI_FCCMD_SERVOS 15 |
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454 | holgerb | 54 | #define SPI_FCCMD_BL_ACCU 16 |
419 | holgerb | 55 | #define SPI_FCCMD_PARAMETER2 17 |
41 | ingob | 56 | |
426 | holgerb | 57 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
58 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
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59 | |||
519 | holgerb | 60 | // devides only the Poti-value |
61 | #define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; } |
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62 | #define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); LIMIT_MIN_MAX(b, min, max); } |
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63 | |||
149 | killagreg | 64 | extern s32 Kalman_K; |
330 | holgerb | 65 | extern s32 Kalman_Kompass ; |
41 | ingob | 66 | extern s32 Kalman_MaxDrift; |
67 | extern s32 Kalman_MaxFusion; |
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148 | holgerb | 68 | extern s32 ToFcGpsZ; |
222 | holgerb | 69 | extern s32 ToFC_Rotate_C, ToFC_Rotate_S; |
70 | extern s32 HeadFreeStartAngle; |
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421 | holgerb | 71 | extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel; |
286 | killagreg | 72 | extern u32 ToFC_AltitudeRate; |
285 | holgerb | 73 | extern s32 ToFC_AltitudeSetpoint; |
323 | holgerb | 74 | extern u8 NC_GPS_ModeCharacter; |
330 | holgerb | 75 | extern u8 FC_is_Calibrated; |
76 | extern u8 FCCalibActive; |
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489 | killagreg | 77 | extern u8 SpeakHoTT; |
460 | holgerb | 78 | extern u8 NC_Wait_for_LED; |
463 | holgerb | 79 | extern s16 GyroCompassCorrected; |
510 | holgerb | 80 | extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
81 | extern s16 CompassSetpoint; |
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530 | holgerb | 82 | extern u8 AmountOfMotors; |
510 | holgerb | 83 | |
338 | holgerb | 84 | extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
530 | holgerb | 85 | extern u8 Logging_BL_MinOfMaxPWM; |
86 | extern u8 ErrorCheck_BL_MinOfMaxPWM; |
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338 | holgerb | 87 | extern u32 FC_I2C_ErrorConter; |
88 | extern u8 FromFC_VarioCharacter; |
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89 | extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2; |
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351 | holgerb | 90 | extern s16 POI_KameraNick; |
448 | holgerb | 91 | extern u8 NC_To_FC_Flags, NC_To_FC_Autostart; |
530 | holgerb | 92 | |
41 | ingob | 93 | typedef struct |
118 | killagreg | 94 | { |
95 | u8 Command; |
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96 | s16 AngleNick; // NickAngle in 0.1 deg |
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97 | s16 AngleRoll; // RollAngle in 0.1 deg |
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98 | s16 AccNick; |
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99 | s16 AccRoll; |
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280 | killagreg | 100 | s16 GyroHeading; // Heading in 0.1 deg |
118 | killagreg | 101 | s16 GyroNick; |
102 | s16 GyroRoll; |
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103 | s16 GyroYaw; |
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284 | killagreg | 104 | u16 FCStatus; |
118 | killagreg | 105 | union |
106 | { |
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205 | killagreg | 107 | u8 Byte[12]; |
118 | killagreg | 108 | s8 sByte[12]; |
205 | killagreg | 109 | u16 Int[6]; |
110 | s16 sInt[6]; |
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111 | u32 Long[3]; |
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112 | s32 sLong[3]; |
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118 | killagreg | 113 | float Float[3]; |
114 | } Param; |
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115 | u8 Chksum; |
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41 | ingob | 116 | } __attribute__((packed)) FromFlightCtrl_t; |
117 | |||
351 | holgerb | 118 | //NC_To_FC_Flags |
119 | #define NC_TO_FC_FLYING_RANGE 0x01 |
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120 | #define NC_TO_FC_EMERGENCY_LANDING 0x02 |
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448 | holgerb | 121 | #define NC_TO_FC_AUTOSTART 0x04 |
489 | killagreg | 122 | #define NC_TO_FC_AUTOLANDING 0x08 // not used |
351 | holgerb | 123 | |
202 | killagreg | 124 | #define SPI_NCCMD_OSD_DATA 100 |
125 | #define SPI_NCCMD_GPS_POS 101 |
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126 | #define SPI_NCCMD_GPS_TARGET 102 |
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127 | #define SPI_NCCMD_KALMAN 103 |
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128 | #define SPI_NCCMD_VERSION 104 |
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204 | killagreg | 129 | #define SPI_NCCMD_GPSINFO 105 |
329 | holgerb | 130 | #define SPI_NCCMD_HOTT_INFO 106 |
342 | holgerb | 131 | #define SPI_MISC 107 |
1 | ingob | 132 | |
329 | holgerb | 133 | #define HOTT_VARIO_PACKET_ID 0x89 |
134 | #define HOTT_GPS_PACKET_ID 0x8A |
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135 | #define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E |
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330 | holgerb | 136 | #define HOTT_GENERAL_PACKET_ID 0x8D |
462 | holgerb | 137 | #define JETI_GPS_PACKET_ID1 0x01 |
138 | #define JETI_GPS_PACKET_ID2 0x02 |
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504 | holgerb | 139 | #define HOTT_WPL_NAME 0x03 |
329 | holgerb | 140 | |
41 | ingob | 141 | typedef struct |
142 | { |
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143 | u8 Command; |
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215 | killagreg | 144 | GPS_Stick_t GPSStick; |
419 | holgerb | 145 | s16 MagVecX; |
41 | ingob | 146 | s16 CompassHeading; |
489 | killagreg | 147 | s16 AccErrorN; |
148 | s16 AccErrorR; |
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419 | holgerb | 149 | s16 MagVecY; |
489 | killagreg | 150 | s16 MagVecZ; |
41 | ingob | 151 | u16 BeepTime; |
152 | union |
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153 | { |
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205 | killagreg | 154 | u8 Byte[12]; |
41 | ingob | 155 | s8 sByte[12]; |
205 | killagreg | 156 | u16 Int[6]; |
157 | s16 sInt[6]; |
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158 | u32 Long[3]; |
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159 | s32 sLong[3]; |
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41 | ingob | 160 | float Float[3]; |
161 | }Param; |
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162 | u8 Chksum; |
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163 | } __attribute__((packed)) ToFlightCtrl_t; |
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1 | ingob | 164 | |
358 | holgerb | 165 | typedef struct |
166 | { |
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167 | u8 Current; |
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168 | u8 Temperature; |
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169 | u8 MaxPWM; |
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170 | u8 State; |
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530 | holgerb | 171 | u8 NotReadyCnt; |
358 | holgerb | 172 | } __attribute__((packed)) Motor_t; |
1 | ingob | 173 | |
358 | holgerb | 174 | extern Motor_t Motor[12]; |
175 | |||
471 | holgerb | 176 | #define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
177 | #define MOTOR_STATE_FAST_MODE 0x02 |
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178 | #define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
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489 | killagreg | 179 | extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
471 | holgerb | 180 | |
181 | |||
489 | killagreg | 182 | |
41 | ingob | 183 | typedef struct |
1 | ingob | 184 | { |
41 | ingob | 185 | u8 Major; |
186 | u8 Minor; |
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187 | u8 Patch; |
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188 | u8 Compatible; |
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61 | holgerb | 189 | u8 Hardware; |
41 | ingob | 190 | } __attribute__((packed)) SPI_Version_t; |
1 | ingob | 191 | |
215 | killagreg | 192 | extern FromFlightCtrl_t FromFlightCtrl; |
193 | extern ToFlightCtrl_t ToFlightCtrl; |
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146 | killagreg | 194 | extern volatile u32 SPI0_Timeout; |
41 | ingob | 195 | extern SPI_Version_t FC_Version; |
514 | holgerb | 196 | extern s16 GPS_Aid_StickMultiplikator; |
392 | holgerb | 197 | extern u8 CompassCalState; |
1 | ingob | 198 | |
41 | ingob | 199 | void SPI0_Init(void); |
200 | void SPI0_GetFlightCtrlVersion(void); |
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201 | void SPI0_UpdateBuffer(void); |
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489 | killagreg | 202 | u16 BL3_Current(u8 who); // in 0.1A |
1 | ingob | 203 | |
41 | ingob | 204 | #endif //_SPI_SLAVE_H |